<!DOCTYPE html>
<html lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<title>get_calib_data [HALCON算子参考手册]</title>
<style type="text/css">
      body {
    color: #000000;
    background-color: #ffffff;
    margin: 0;
    font-family: Arial, Helvetica, sans-serif;
}

.body_main {
    margin-left: 35px;
    margin-right: 35px;
}

@media screen and (min-width:992px) {

    .body_main {
        margin-left: 10%;
        margin-right: 10%;
    }

    table.toctable {
        width: 80%
    }
}

@media screen and (min-width:1400px) {

    .body_main {
        margin-left: 15%;
        margin-right: 15%;
    }

    table.toctable {
        width: 70%
    }
}

body>div ul ul {
    margin-left: inherit;
}

a:link {
    color: #0044cc;
}

a:link,
a:visited {
    text-decoration: none;
}

a:link:hover,
a:visited:hover {
    text-decoration: underline;
}

th {
    text-align: left;
}

h1,
h2,
h3,
h4,
h5,
h6 {
    text-rendering: optimizeLegibility;
    color: #666666;
}

code {
    font-family: monospace,monospace;
}

h1 a.halconoperator {
    font-family: Arial, Helvetica, sans-serif;
    color: #666666;
}

h2 a.halconoperator {
    font-family: Arial, Helvetica, sans-serif;
    color: #666666;
}

hr {
    border: 0;
    border-top: solid 1px #f28d26;
}

.pre {
    display: block;
    padding-bottom: 1ex;
    font-family: monospace;
    white-space: pre;
}

pre {
    font-family: monospace, monospace;
    padding: 1ex;
    white-space: pre-wrap;
}

.toc {
    font-size: 80%;
    border-top: 1px dashed #f28d26;
    border-bottom: 1px dashed #f28d26;
    padding-top: 5px;
    padding-bottom: 5px;
}

.inv {
    margin: 0;
    border: 0;
    padding: 0;
}

.banner {
    color: #666666;
    padding-left: 1em;
}

.logo {
    background-color: white;
}

.keyboard {
    font-size: 80%;
    padding-left: 3px;
    padding-right: 3px;
    border-radius: 5px;
    border-width: 1px;
    border-style: solid;
    border-color: #f28d26;
    background-color: #f3f3f3;
}

.warning {
    margin-top: 2ex;
    margin-bottom: 1ex;
    padding: 10px;
    text-align: center;
    border: 1px solid;
    color: #bb0000;
    background-color: #fff7f7
}

.imprint {
    margin-top: 1ex;
    font-size: 80%;
    color: #666666;
}

.imprinthead {
    font-weight: bolder;
    color: #666666;
}

.indexlink {
    text-align: right;
    padding-bottom: 5px;
}

.postscript {
    margin-top: 2ex;
    font-size: 80%;
    color: #666666
}

.evenrow {
    background-color: #e7e7ef;
    vertical-align: top;
}

.oddrow {
    background-color: #f7f7ff;
    vertical-align: top;
}

.headrow {
    background-color: #97979f;
    color: #ffffff;
    vertical-align: top;
}

.logorow {
    vertical-align: top;
}

.error {
    color: red;
}

.var {
    font-style: italic
}

.halconoperator {
    font-family: monospace, monospace;
}

span.operator {
    font-family: monospace, monospace;
}

span.procedure {
    font-family: monospace, monospace;
}

span.operation {
    font-family: monospace, monospace;
}

span.feature {
    font-family: Arial, Helvetica, Homerton, sans-serif;
}

ul {
    padding-left: 1.2em;
}

li.dot {
    list-style-type: square;
    color: #f28d26;
}

.breadcrumb {
    font-size: 80%;
    color: white;
    background-color: #062d64;
    margin-bottom: 20px;
    padding-left: 35px;
    padding-right: 35px;
    padding-bottom: 15px;
}

.webbar {
    font-size: 80%;
    background-color: #dddddd;
    margin-top: 0px;
    margin-left: -35px;
    margin-right: -35px;
    margin-bottom: 0px;
    padding-top: 5px;
    padding-left: 35px;
    padding-right: 35px;
    padding-bottom: 5px;
}

.footer {
    display: flex;
    flex-wrap: wrap;
    justify-content: space-between;
    border-top: 1px dashed #f28d26;
    font-size: 80%;
    color: #666666;
    padding-bottom: 8px;
}

.footer .socialmedia a {
    padding-left: 7px;
}

.socialmedia {
    padding-top: 10px;
}

.copyright {
    margin-top: 19px;
}

.breadcrumb a {
    color: #ffffff;
    border-bottom: 1px solid white;
}

.breadcrumb a:link:hover,
.breadcrumb a:visited:hover {
    text-decoration: none;
    border-bottom: none;
}

.heading {
    margin-top: 1ex;
    font-size: 110%;
    font-weight: bold;
    color: #666666;
}

.text {
    color: black;
}

.example {
    font-size: 80%;
    background-color: #f3f3f3;
    border: 1px dashed #666666;
    padding: 10px;
}

.displaymath {
    display: block;
    text-align: center;
    margin-top: 1ex;
    margin-bottom: 1ex;
}

.title {
    float: left;
    padding-top: 3px;
    padding-bottom: 3px;
}

.signnote {
    font-family: Arial, Helvetica, Homerton, sans-serif;
    font-size: 80%;
    color: #666666;
    font-weight: lighter;
    font-style: italic
}

.par {
    margin-bottom: 1.5em;
}

.parhead {
    text-align: right;
}

.parname {
    float: left;
}

.pardesc {
    font-size: 85%;
    margin-top: 0.5em;
    margin-bottom: 0.5em;
    margin-left: 2em;
}

.parcat {
    color: #666;
    font-weight: bold;
}

*[data-if=cpp],
*[data-if=c],
*[data-if=dotnet],
*[data-if=com],
*[data-if=python] {
    display: none;
}

.tabbar {
    text-align: right;
    border-bottom: 1px solid #f28d26;
    margin-bottom: 0.5em;
}

ul.tabs {
    padding-top: 3px;
    padding-bottom: 3px;
    margin-top: 10px;
    margin-bottom: 0;
    font-size: 80%
}

ul.tabs li {
    padding-top: 3px;
    padding-bottom: 3px;
    display: inline;
    overflow: hidden;
    list-style-type: none;
    margin: 0;
    margin-left: 8px;
    border-top: 1px solid #666;
    border-left: 1px solid #666;
    border-right: 1px solid #666;
}

ul.tabs li.active {
    border-left: 1px solid #f28d26;
    border-right: 1px solid #f28d26;
    border-top: 1px solid #f28d26;
    border-bottom: 1px solid #fff;
}

ul.tabs li.inactive {
    background-color: #eee;
}

ul.tabs li a {
    padding-left: 5px;
    padding-right: 5px;
    color: #666;
}

ul.tabs li a:link:hover {
    text-decoration: none;
}

ul.tabs li.inactive a {
    color: #666;
}

ul.tabs li.active a {
    color: black;
}

dl.generic dd {
    margin-bottom: 1em;
}

.pari {
    color: olive;
}

.paro {
    color: maroon;
}

.comment {
    font-size: 80%;
    color: green;
    white-space: nowrap;
}

table.grid {
    border-collapse: collapse;
}

table.grid td {
    padding: 5px;
    border: 1px solid;
}

table.layout {
    border: 0px;
}

table.layout td {
    padding: 5px;
}

table.table {
    border-collapse: collapse;
}

table.table td {
    padding: 5px;
    border-left: 0px;
    border-right: 0px;
}

table.table tr:last-child {
    border-bottom: 1px solid;
}

table.table th {
    padding: 5px;
    border-top: 1px solid;
    border-bottom: 1px solid;
    border-left: 0px;
    border-right: 0px;
}

.details_summary {
    cursor: pointer;
}

table.toctable {
    width: 100%;
}

table.toctable col:first-child {
    width: 20%;
}

table.toctable col:nth-last-child(2) {
    width: 8%;
}

table.altcolored tr:nth-child(even) {
    background-color: #f3f3f3;
}

    </style>
<!--OP_REF_STYLE_END-->
<script>
    <!--
var active_lang='hdevelop';function switchVisibility(obj,active_lang,new_lang)
{var display_style='inline';
for(var i=0;i<obj.length;i++)
{if(obj.item(i).getAttribute('data-if')==new_lang)
{obj.item(i).style.display=display_style;}
if(obj.item(i).getAttribute('data-if')==active_lang)
{obj.item(i).style.display='none';}}
return;}
function toggleLanguage(new_lang,initial)
{if(active_lang!=new_lang)
{var lis=document.getElementsByTagName('li');for(var i=0;i<lis.length;i++)
{if(lis.item(i).id=='syn-'+new_lang)
{lis.item(i).className='active';}
else
{lis.item(i).className='inactive';}}
var divs=document.getElementsByTagName('div');var spans=document.getElementsByTagName('span');switchVisibility(divs,active_lang,new_lang);switchVisibility(spans,active_lang,new_lang);if(!initial)
{setCookie("halcon_reference_language",new_lang,null,null);}
active_lang=new_lang;}
return;}
function setCookie(name,value,domain,exp_offset,path,secure)
{localStorage.setItem(name,value);}
function getCookie(name)
{return localStorage.getItem(name);}
function initialize()
{var qs=location.href.split('?')[1];var qs_lang_raw=location.href.split('interface=')[1];var qs_lang;if(qs_lang_raw)
{qs_lang=qs_lang_raw.split('#')[0];}
var cookie_lang=getCookie("halcon_reference_language");var new_lang;if((qs_lang=="hdevelop")||(qs_lang=="dotnet")||(qs_lang=="python")||(qs_lang=="cpp")||(qs_lang=="c"))
{new_lang=qs_lang;setCookie("halcon_reference_language",new_lang,null,null);}
else if((cookie_lang=="hdevelop")||(cookie_lang=="dotnet")||(cookie_lang=="python")||(cookie_lang=="cpp")||(cookie_lang=="c"))
{new_lang=cookie_lang;}
else
{new_lang="hdevelop";}
toggleLanguage(new_lang,1);return;}
-->

  </script>
</head>
<body onload="initialize();">
<div class="breadcrumb">
<br class="inv"><a href="index.html">目录</a> / <a href="toc_calibration.html">Calibration</a> / <a href="toc_calibration_multiview.html">Multi-View</a><br class="inv">
</div>
<div class="body_main">
<div class="tabbar"><ul class="tabs">
<li id="syn-hdevelop" class="active"><a href="javascript:void(0);" onclick="toggleLanguage('hdevelop')" onfocus="blur()">HDevelop</a></li>
<li id="syn-dotnet" class="inactive"><a href="javascript:void(0);" onclick="toggleLanguage('dotnet')" onfocus="blur()">.NET</a></li>
<li id="syn-python" class="inactive"><a href="javascript:void(0);" onclick="toggleLanguage('python')" onfocus="blur()">Python</a></li>
<li id="syn-cpp" class="inactive"><a href="javascript:void(0);" onclick="toggleLanguage('cpp')" onfocus="blur()">C++</a></li>
<li id="syn-c" class="inactive"><a href="javascript:void(0);" onclick="toggleLanguage('c')" onfocus="blur()">C</a></li>
</ul></div>
<div class="indexlink">
<a href="index_classes.html"><span data-if="dotnet" style="display:none;">类别</span><span data-if="cpp" style="display:none;">类别</span></a><span data-if="dotnet" style="display:none;"> | </span><span data-if="cpp" style="display:none;"> | </span><a href="index_by_name.html">算子列表</a>
</div>
<!--OP_REF_HEADER_END-->
<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">get_calib_data</span><span data-if="c" style="display:none;">T_get_calib_data</span><span data-if="cpp" style="display:none;">GetCalibData</span><span data-if="dotnet" style="display:none;">GetCalibData</span><span data-if="python" style="display:none;">get_calib_data</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">get_calib_data</span><span data-if="c" style="display:none;">T_get_calib_data</span><span data-if="cpp" style="display:none;">GetCalibData</span><span data-if="dotnet" style="display:none;">GetCalibData</span><span data-if="python" style="display:none;">get_calib_data</span></code> — Query data stored or computed in a calibration data model.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>get_calib_data</b>( :  : <a href="#CalibDataID"><i>CalibDataID</i></a>, <a href="#ItemType"><i>ItemType</i></a>, <a href="#ItemIdx"><i>ItemIdx</i></a>, <a href="#DataName"><i>DataName</i></a> : <a href="#DataValue"><i>DataValue</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_get_calib_data</b>(const Htuple <a href="#CalibDataID"><i>CalibDataID</i></a>, const Htuple <a href="#ItemType"><i>ItemType</i></a>, const Htuple <a href="#ItemIdx"><i>ItemIdx</i></a>, const Htuple <a href="#DataName"><i>DataName</i></a>, Htuple* <a href="#DataValue"><i>DataValue</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>GetCalibData</b>(const HTuple&amp; <a href="#CalibDataID"><i>CalibDataID</i></a>, const HTuple&amp; <a href="#ItemType"><i>ItemType</i></a>, const HTuple&amp; <a href="#ItemIdx"><i>ItemIdx</i></a>, const HTuple&amp; <a href="#DataName"><i>DataName</i></a>, HTuple* <a href="#DataValue"><i>DataValue</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCalibData.html">HCalibData</a>::<b>GetCalibData</b>(const HString&amp; <a href="#ItemType"><i>ItemType</i></a>, const HTuple&amp; <a href="#ItemIdx"><i>ItemIdx</i></a>, const HTuple&amp; <a href="#DataName"><i>DataName</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCalibData.html">HCalibData</a>::<b>GetCalibData</b>(const HString&amp; <a href="#ItemType"><i>ItemType</i></a>, Hlong <a href="#ItemIdx"><i>ItemIdx</i></a>, const HString&amp; <a href="#DataName"><i>DataName</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCalibData.html">HCalibData</a>::<b>GetCalibData</b>(const char* <a href="#ItemType"><i>ItemType</i></a>, Hlong <a href="#ItemIdx"><i>ItemIdx</i></a>, const char* <a href="#DataName"><i>DataName</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCalibData.html">HCalibData</a>::<b>GetCalibData</b>(const wchar_t* <a href="#ItemType"><i>ItemType</i></a>, Hlong <a href="#ItemIdx"><i>ItemIdx</i></a>, const wchar_t* <a href="#DataName"><i>DataName</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>GetCalibData</b>(<a href="HTuple.html">HTuple</a> <a href="#CalibDataID"><i>calibDataID</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ItemType"><i>itemType</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ItemIdx"><i>itemIdx</i></a>, <a href="HTuple.html">HTuple</a> <a href="#DataName"><i>dataName</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#DataValue"><i>dataValue</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCalibData.html">HCalibData</a>.<b>GetCalibData</b>(string <a href="#ItemType"><i>itemType</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ItemIdx"><i>itemIdx</i></a>, <a href="HTuple.html">HTuple</a> <a href="#DataName"><i>dataName</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCalibData.html">HCalibData</a>.<b>GetCalibData</b>(string <a href="#ItemType"><i>itemType</i></a>, int <a href="#ItemIdx"><i>itemIdx</i></a>, string <a href="#DataName"><i>dataName</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>get_calib_data</b>(<a href="#CalibDataID"><i>calib_data_id</i></a>: HHandle, <a href="#ItemType"><i>item_type</i></a>: str, <a href="#ItemIdx"><i>item_idx</i></a>: MaybeSequence[Union[int, str]], <a href="#DataName"><i>data_name</i></a>: MaybeSequence[str]) -&gt; Sequence[Union[float, int, str]]</code></p>
<p>
<code>def <b>get_calib_data_s</b>(<a href="#CalibDataID"><i>calib_data_id</i></a>: HHandle, <a href="#ItemType"><i>item_type</i></a>: str, <a href="#ItemIdx"><i>item_idx</i></a>: MaybeSequence[Union[int, str]], <a href="#DataName"><i>data_name</i></a>: MaybeSequence[str]) -&gt; Union[float, int, str]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>With 该算子 <code><span data-if="hdevelop" style="display:inline">get_calib_data</span><span data-if="c" style="display:none">get_calib_data</span><span data-if="cpp" style="display:none">GetCalibData</span><span data-if="com" style="display:none">GetCalibData</span><span data-if="dotnet" style="display:none">GetCalibData</span><span data-if="python" style="display:none">get_calib_data</span></code>, you can query data of the
calibration data model <a href="#CalibDataID"><i><code><span data-if="hdevelop" style="display:inline">CalibDataID</span><span data-if="c" style="display:none">CalibDataID</span><span data-if="cpp" style="display:none">CalibDataID</span><span data-if="com" style="display:none">CalibDataID</span><span data-if="dotnet" style="display:none">calibDataID</span><span data-if="python" style="display:none">calib_data_id</span></code></i></a>.
</p>
<p>Note that in the following, all 'pose'-related data is given in relation to
the coordinate system of the model's <i>reference camera</i>, which can be
set with <a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a> and queried with <code><span data-if="hdevelop" style="display:inline">get_calib_data</span><span data-if="c" style="display:none">get_calib_data</span><span data-if="cpp" style="display:none">GetCalibData</span><span data-if="com" style="display:none">GetCalibData</span><span data-if="dotnet" style="display:none">GetCalibData</span><span data-if="python" style="display:none">get_calib_data</span></code>. By
default, the first camera (camera index 0) is used as reference camera.
</p>
<p>The calibration data model contains various kinds of data. How to query
specific data of the calibration data model is described for different
categories of data:
</p>
<ul>
<li>
<p> Model-related data (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i>)
</p>
</li>
<li>
<p> Camera-related data (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i>)
</p>
</li>
<li>
<p> Data related to calibration objects (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>)
</p>
</li>
<li>
<p> Data related to calibration object poses (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i>)
</p>
</li>
<li>
<p> Hand-eye calibration related data (different values for <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>)
</p>
</li>
</ul>
<p>Before we describe the individual data you can query in detail, we provide
you with an overview on which data is available after the individual steps of
the calibration processes.  When calibrating cameras or a hand-eye system,
several operators are called that step by step fill the calibration data
model with content.  In the following, for each operator a table lists the
data that is added to the model. Additionally, you find information about the
combinations of the values for <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>, <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>, and
<a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> that are needed to query the information with
<code><span data-if="hdevelop" style="display:inline">get_calib_data</span><span data-if="c" style="display:none">get_calib_data</span><span data-if="cpp" style="display:none">GetCalibData</span><span data-if="com" style="display:none">GetCalibData</span><span data-if="dotnet" style="display:none">GetCalibData</span><span data-if="python" style="display:none">get_calib_data</span></code>. For the different indices that are used within the
tables the following abbreviations (or potential variable names) are used:
</p>
<ul>
<li>
<p> Camera index: <code>CameraIdx</code>
</p>
</li>
<li>
<p> Calibration object index: <code>CalibObjIdx</code>
</p>
</li>
<li>
<p> Calibration object pose index: <code>CalibObjPoseIdx</code>
</p>
</li>
</ul>
<p>Detailed descriptions of the data that can be queried can then be found in
the specific sections that handle the different categories of data
individually.
</p>
<p>To get detailed information about the calibration process of
your camera setup see the chapter <a href="toc_calibration.html">Calibration</a>.
</p>
<h3>Content of Calibration Data Model When Calibrating Cameras</h3>
<p>
For each operator that extends the calibration model, a table is provided
to give an overview on the respective data:
</p>
<ul>
<li>
<p> <a href="create_calib_data.html"><code><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></code></a>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Type of the calibration data model</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'type'</span><span data-if="c" style="display:none">"type"</span><span data-if="cpp" style="display:none">"type"</span><span data-if="com" style="display:none">"type"</span><span data-if="dotnet" style="display:none">"type"</span><span data-if="python" style="display:none">"type"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Number of cameras</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i>  </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'num_cameras'</span><span data-if="c" style="display:none">"num_cameras"</span><span data-if="cpp" style="display:none">"num_cameras"</span><span data-if="com" style="display:none">"num_cameras"</span><span data-if="dotnet" style="display:none">"num_cameras"</span><span data-if="python" style="display:none">"num_cameras"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Number of calibration objects</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'num_calib_objs'</span><span data-if="c" style="display:none">"num_calib_objs"</span><span data-if="cpp" style="display:none">"num_calib_objs"</span><span data-if="com" style="display:none">"num_calib_objs"</span><span data-if="dotnet" style="display:none">"num_calib_objs"</span><span data-if="python" style="display:none">"num_calib_objs"</span></i>
</td>
</tr>
</table></div>

</li>
<li>
<p><a href="set_calib_data_cam_param.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_cam_param</span><span data-if="c" style="display:none">set_calib_data_cam_param</span><span data-if="cpp" style="display:none">SetCalibDataCamParam</span><span data-if="com" style="display:none">SetCalibDataCamParam</span><span data-if="dotnet" style="display:none">SetCalibDataCamParam</span><span data-if="python" style="display:none">set_calib_data_cam_param</span></code></a>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Camera types</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code><span data-if="hdevelop" style="display:inline">CameraIdx</span><span data-if="c" style="display:none">CameraIdx</span><span data-if="cpp" style="display:none">CameraIdx</span><span data-if="com" style="display:none">CameraIdx</span><span data-if="dotnet" style="display:none">cameraIdx</span><span data-if="python" style="display:none">camera_idx</span></code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'type'</span><span data-if="c" style="display:none">"type"</span><span data-if="cpp" style="display:none">"type"</span><span data-if="com" style="display:none">"type"</span><span data-if="dotnet" style="display:none">"type"</span><span data-if="python" style="display:none">"type"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Initial internal camera parameters</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code><span data-if="hdevelop" style="display:inline">CameraIdx</span><span data-if="c" style="display:none">CameraIdx</span><span data-if="cpp" style="display:none">CameraIdx</span><span data-if="com" style="display:none">CameraIdx</span><span data-if="dotnet" style="display:none">cameraIdx</span><span data-if="python" style="display:none">camera_idx</span></code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'init_params'</span><span data-if="c" style="display:none">"init_params"</span><span data-if="cpp" style="display:none">"init_params"</span><span data-if="com" style="display:none">"init_params"</span><span data-if="dotnet" style="display:none">"init_params"</span><span data-if="python" style="display:none">"init_params"</span></i>
</td>
</tr>
</table></div>

</li>
<li>
<p><a href="set_calib_data_calib_object.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_calib_object</span><span data-if="c" style="display:none">set_calib_data_calib_object</span><span data-if="cpp" style="display:none">SetCalibDataCalibObject</span><span data-if="com" style="display:none">SetCalibDataCalibObject</span><span data-if="dotnet" style="display:none">SetCalibDataCalibObject</span><span data-if="python" style="display:none">set_calib_data_calib_object</span></code></a>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Numbers of calibration marks</b> of the calibration objects </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>  </td>
<td style="text-align:left"> <code><span data-if="hdevelop" style="display:inline">CalibObjIdx</span><span data-if="c" style="display:none">CalibObjIdx</span><span data-if="cpp" style="display:none">CalibObjIdx</span><span data-if="com" style="display:none">CalibObjIdx</span><span data-if="dotnet" style="display:none">calibObjIdx</span><span data-if="python" style="display:none">calib_obj_idx</span></code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'num_marks'</span><span data-if="c" style="display:none">"num_marks"</span><span data-if="cpp" style="display:none">"num_marks"</span><span data-if="com" style="display:none">"num_marks"</span><span data-if="dotnet" style="display:none">"num_marks"</span><span data-if="python" style="display:none">"num_marks"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Coordinates of the calibration marks</b> of the calibration objects relative to their calibration object coordinate systems </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>  </td>
<td style="text-align:left"> <code><span data-if="hdevelop" style="display:inline">CalibObjIdx</span><span data-if="c" style="display:none">CalibObjIdx</span><span data-if="cpp" style="display:none">CalibObjIdx</span><span data-if="com" style="display:none">CalibObjIdx</span><span data-if="dotnet" style="display:none">calibObjIdx</span><span data-if="python" style="display:none">calib_obj_idx</span></code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'x'</span><span data-if="c" style="display:none">"x"</span><span data-if="cpp" style="display:none">"x"</span><span data-if="com" style="display:none">"x"</span><span data-if="dotnet" style="display:none">"x"</span><span data-if="python" style="display:none">"x"</span></i>,  <i><span data-if="hdevelop" style="display:inline">'y'</span><span data-if="c" style="display:none">"y"</span><span data-if="cpp" style="display:none">"y"</span><span data-if="com" style="display:none">"y"</span><span data-if="dotnet" style="display:none">"y"</span><span data-if="python" style="display:none">"y"</span></i>, <i><span data-if="hdevelop" style="display:inline">'z'</span><span data-if="c" style="display:none">"z"</span><span data-if="cpp" style="display:none">"z"</span><span data-if="com" style="display:none">"z"</span><span data-if="dotnet" style="display:none">"z"</span><span data-if="python" style="display:none">"z"</span></i>
</td>
</tr>
</table></div>
</li>
</ul>
<p>For standard HALCON calibration plates, further calibration plate specific
information is added to the model, which is not accessible with
<code><span data-if="hdevelop" style="display:inline">get_calib_data</span><span data-if="c" style="display:none">get_calib_data</span><span data-if="cpp" style="display:none">GetCalibData</span><span data-if="com" style="display:none">GetCalibData</span><span data-if="dotnet" style="display:none">GetCalibData</span><span data-if="python" style="display:none">get_calib_data</span></code> but can be obtained directly from the corresponding
calibration plate description files instead (for details about the
description files see <a href="create_caltab.html"><code><span data-if="hdevelop" style="display:inline">create_caltab</span><span data-if="c" style="display:none">create_caltab</span><span data-if="cpp" style="display:none">CreateCaltab</span><span data-if="com" style="display:none">CreateCaltab</span><span data-if="dotnet" style="display:none">CreateCaltab</span><span data-if="python" style="display:none">create_caltab</span></code></a> for a calibration plate with
hexagonally arranged marks and <a href="gen_caltab.html"><code><span data-if="hdevelop" style="display:inline">gen_caltab</span><span data-if="c" style="display:none">gen_caltab</span><span data-if="cpp" style="display:none">GenCaltab</span><span data-if="com" style="display:none">GenCaltab</span><span data-if="dotnet" style="display:none">GenCaltab</span><span data-if="python" style="display:none">gen_caltab</span></code></a> for a calibration plate
with rectangularly arranged marks).
</p>
<ul>
<li>
<p> <a href="find_calib_object.html"><code><span data-if="hdevelop" style="display:inline">find_calib_object</span><span data-if="c" style="display:none">find_calib_object</span><span data-if="cpp" style="display:none">FindCalibObject</span><span data-if="com" style="display:none">FindCalibObject</span><span data-if="dotnet" style="display:none">FindCalibObject</span><span data-if="python" style="display:none">find_calib_object</span></code></a> (for standard HALCON calibration plates):
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:42%;">
<col span="1" style="width:58%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> accessible with </td>
</tr>
<tr>
<td style="text-align:left">
<b>Observed image coordinates</b> of the calibration marks </td>
<td style="text-align:left"> <a href="get_calib_data_observ_points.html"><code><span data-if="hdevelop" style="display:inline">get_calib_data_observ_points</span><span data-if="c" style="display:none">get_calib_data_observ_points</span><span data-if="cpp" style="display:none">GetCalibDataObservPoints</span><span data-if="com" style="display:none">GetCalibDataObservPoints</span><span data-if="dotnet" style="display:none">GetCalibDataObservPoints</span><span data-if="python" style="display:none">get_calib_data_observ_points</span></code></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Observed contours</b> of the calibration marks </td>
<td style="text-align:left"> <a href="get_calib_data_observ_contours.html"><code><span data-if="hdevelop" style="display:inline">get_calib_data_observ_contours</span><span data-if="c" style="display:none">get_calib_data_observ_contours</span><span data-if="cpp" style="display:none">GetCalibDataObservContours</span><span data-if="com" style="display:none">GetCalibDataObservContours</span><span data-if="dotnet" style="display:none">GetCalibDataObservContours</span><span data-if="python" style="display:none">get_calib_data_observ_contours</span></code></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Observed poses</b> of the calibration plate relative to the camera coordinate system </td>
<td style="text-align:left"> <a href="get_calib_data_observ_pose.html"><code><span data-if="hdevelop" style="display:inline">get_calib_data_observ_pose</span><span data-if="c" style="display:none">get_calib_data_observ_pose</span><span data-if="cpp" style="display:none">GetCalibDataObservPose</span><span data-if="com" style="display:none">GetCalibDataObservPose</span><span data-if="dotnet" style="display:none">GetCalibDataObservPose</span><span data-if="python" style="display:none">get_calib_data_observ_pose</span></code></a> or <a href="get_calib_data_observ_points.html"><code><span data-if="hdevelop" style="display:inline">get_calib_data_observ_points</span><span data-if="c" style="display:none">get_calib_data_observ_points</span><span data-if="cpp" style="display:none">GetCalibDataObservPoints</span><span data-if="com" style="display:none">GetCalibDataObservPoints</span><span data-if="dotnet" style="display:none">GetCalibDataObservPoints</span><span data-if="python" style="display:none">get_calib_data_observ_points</span></code></a>
</td>
</tr>
</table></div>

</li>
<li>
<p> <a href="set_calib_data_observ_points.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_observ_points</span><span data-if="c" style="display:none">set_calib_data_observ_points</span><span data-if="cpp" style="display:none">SetCalibDataObservPoints</span><span data-if="com" style="display:none">SetCalibDataObservPoints</span><span data-if="dotnet" style="display:none">SetCalibDataObservPoints</span><span data-if="python" style="display:none">set_calib_data_observ_points</span></code></a> (for other calibration objects than the HALCON calibration plates):
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:42%;">
<col span="1" style="width:58%;">
<tr>
<td style="text-align:left">
Data added to the model </td>
<td style="text-align:left"> accessible with </td>
</tr>
<tr>
<td style="text-align:left">
<b>Observed image coordinates</b> of the calibration marks </td>
<td style="text-align:left"> <a href="get_calib_data_observ_points.html"><code><span data-if="hdevelop" style="display:inline">get_calib_data_observ_points</span><span data-if="c" style="display:none">get_calib_data_observ_points</span><span data-if="cpp" style="display:none">GetCalibDataObservPoints</span><span data-if="com" style="display:none">GetCalibDataObservPoints</span><span data-if="dotnet" style="display:none">GetCalibDataObservPoints</span><span data-if="python" style="display:none">get_calib_data_observ_points</span></code></a>
</td>
</tr>
</table></div>

</li>
<li>
<p> <a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Reference camera</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'reference_camera'</span><span data-if="c" style="display:none">"reference_camera"</span><span data-if="cpp" style="display:none">"reference_camera"</span><span data-if="com" style="display:none">"reference_camera"</span><span data-if="dotnet" style="display:none">"reference_camera"</span><span data-if="python" style="display:none">"reference_camera"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Internal and external camera parameters</b> to calibrate </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> or <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_settings'</span><span data-if="c" style="display:none">"calib_settings"</span><span data-if="cpp" style="display:none">"calib_settings"</span><span data-if="com" style="display:none">"calib_settings"</span><span data-if="dotnet" style="display:none">"calib_settings"</span><span data-if="python" style="display:none">"calib_settings"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Internal and external camera parameters</b> to be excluded from the calibration </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> or <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'excluded_settings'</span><span data-if="c" style="display:none">"excluded_settings"</span><span data-if="cpp" style="display:none">"excluded_settings"</span><span data-if="com" style="display:none">"excluded_settings"</span><span data-if="dotnet" style="display:none">"excluded_settings"</span><span data-if="python" style="display:none">"excluded_settings"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
For stereo setups with telecentric line scan cameras: Do the cameras have a <b>common motion vector</b>? </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'common_motion_vector'</span><span data-if="c" style="display:none">"common_motion_vector"</span><span data-if="cpp" style="display:none">"common_motion_vector"</span><span data-if="com" style="display:none">"common_motion_vector"</span><span data-if="dotnet" style="display:none">"common_motion_vector"</span><span data-if="python" style="display:none">"common_motion_vector"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Calibration object pose settings</b> to be optimized </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> or  <code>[CalibObjIdx,  CalibObjPoseIdx]</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_settings'</span><span data-if="c" style="display:none">"calib_settings"</span><span data-if="cpp" style="display:none">"calib_settings"</span><span data-if="com" style="display:none">"calib_settings"</span><span data-if="dotnet" style="display:none">"calib_settings"</span><span data-if="python" style="display:none">"calib_settings"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Calibration object pose settings</b> to be excluded from the calibration </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> or <code>[CalibObjIdx,  CalibObjPoseIdx]</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'excluded_settings'</span><span data-if="c" style="display:none">"excluded_settings"</span><span data-if="cpp" style="display:none">"excluded_settings"</span><span data-if="com" style="display:none">"excluded_settings"</span><span data-if="dotnet" style="display:none">"excluded_settings"</span><span data-if="python" style="display:none">"excluded_settings"</span></i>
</td>
</tr>
</table></div>

</li>
<li>
<p> <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Camera setup model</b> (needed for multi-view stereo reconstruction) </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera_setup_model'</span><span data-if="c" style="display:none">"camera_setup_model"</span><span data-if="cpp" style="display:none">"camera_setup_model"</span><span data-if="com" style="display:none">"camera_setup_model"</span><span data-if="dotnet" style="display:none">"camera_setup_model"</span><span data-if="python" style="display:none">"camera_setup_model"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Optimized internal camera parameters</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Standard deviations</b> of the optimized internal camera parameters </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'params_deviations'</span><span data-if="c" style="display:none">"params_deviations"</span><span data-if="cpp" style="display:none">"params_deviations"</span><span data-if="com" style="display:none">"params_deviations"</span><span data-if="dotnet" style="display:none">"params_deviations"</span><span data-if="python" style="display:none">"params_deviations"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Covariance matrices</b> of the optimized internal camera parameters </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'params_covariances'</span><span data-if="c" style="display:none">"params_covariances"</span><span data-if="cpp" style="display:none">"params_covariances"</span><span data-if="com" style="display:none">"params_covariances"</span><span data-if="dotnet" style="display:none">"params_covariances"</span><span data-if="python" style="display:none">"params_covariances"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Labels for the internal camera parameters</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'params_labels'</span><span data-if="c" style="display:none">"params_labels"</span><span data-if="cpp" style="display:none">"params_labels"</span><span data-if="com" style="display:none">"params_labels"</span><span data-if="dotnet" style="display:none">"params_labels"</span><span data-if="python" style="display:none">"params_labels"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Initial external camera parameters</b> (camera poses) </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'init_pose'</span><span data-if="c" style="display:none">"init_pose"</span><span data-if="cpp" style="display:none">"init_pose"</span><span data-if="com" style="display:none">"init_pose"</span><span data-if="dotnet" style="display:none">"init_pose"</span><span data-if="python" style="display:none">"init_pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Optimized external camera parameters</b> (camera poses) </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Labels for the external camera parameters</b> (camera poses) </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <code>CameraIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'pose_labels'</span><span data-if="c" style="display:none">"pose_labels"</span><span data-if="cpp" style="display:none">"pose_labels"</span><span data-if="com" style="display:none">"pose_labels"</span><span data-if="dotnet" style="display:none">"pose_labels"</span><span data-if="python" style="display:none">"pose_labels"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Initial calibration object poses</b>  </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i> </td>
<td style="text-align:left"> <code>[CalibObjIdx, CalibObjPoseIdx]</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'init_pose'</span><span data-if="c" style="display:none">"init_pose"</span><span data-if="cpp" style="display:none">"init_pose"</span><span data-if="com" style="display:none">"init_pose"</span><span data-if="dotnet" style="display:none">"init_pose"</span><span data-if="python" style="display:none">"init_pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Optimized calibration object poses</b>  </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i> </td>
<td style="text-align:left"> <code>[CalibObjIdx, CalibObjPoseIdx]</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Labels for the calibration object pose parameters</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i> </td>
<td style="text-align:left"> <code>[CalibObjIdx, CalibObjPoseIdx]</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'pose_labels'</span><span data-if="c" style="display:none">"pose_labels"</span><span data-if="cpp" style="display:none">"pose_labels"</span><span data-if="com" style="display:none">"pose_labels"</span><span data-if="dotnet" style="display:none">"pose_labels"</span><span data-if="python" style="display:none">"pose_labels"</span></i>
</td>
</tr>
</table></div>
</li>
</ul>
<h3>Content of Calibration Data Model When Performing Hand-Eye Calibration</h3>
<p>
For each operator that extends the calibration model when performing
hand-eye calibration, a table is provided to give an overview on the
respective data:
</p>
<ul>
<li>
<p> <a href="create_calib_data.html"><code><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></code></a>:
</p>
<p>See the section <b>'Content of Calibration Data Model When Calibrating Cameras'</b>.
</p>
</li>
<li>
<p> <a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Optimization method</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i>  </td>
</tr>
<tr>
<td style="text-align:left">
<b>Poses of the robot tool in robot base coordinates</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool'</span><span data-if="c" style="display:none">"tool"</span><span data-if="cpp" style="display:none">"tool"</span><span data-if="com" style="display:none">"tool"</span><span data-if="dotnet" style="display:none">"tool"</span><span data-if="python" style="display:none">"tool"</span></i> </td>
<td style="text-align:left"> <code>CalibObjPoseIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool_in_base_pose'</span><span data-if="c" style="display:none">"tool_in_base_pose"</span><span data-if="cpp" style="display:none">"tool_in_base_pose"</span><span data-if="com" style="display:none">"tool_in_base_pose"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose"</span><span data-if="python" style="display:none">"tool_in_base_pose"</span></i>
</td>
</tr>
</table></div>

</li>
<li>
<p> <a href="set_calib_data_observ_pose.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_observ_pose</span><span data-if="c" style="display:none">set_calib_data_observ_pose</span><span data-if="cpp" style="display:none">SetCalibDataObservPose</span><span data-if="com" style="display:none">SetCalibDataObservPose</span><span data-if="dotnet" style="display:none">SetCalibDataObservPose</span><span data-if="python" style="display:none">set_calib_data_observ_pose</span></code></a> (observations obtained by 3D sensors):
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:42%;">
<col span="1" style="width:58%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> accessible with </td>
</tr>
<tr>
<td style="text-align:left">
<b>Observed calibration object poses</b> </td>
<td style="text-align:left"> <a href="get_calib_data_observ_pose.html"><code><span data-if="hdevelop" style="display:inline">get_calib_data_observ_pose</span><span data-if="c" style="display:none">get_calib_data_observ_pose</span><span data-if="cpp" style="display:none">GetCalibDataObservPose</span><span data-if="com" style="display:none">GetCalibDataObservPose</span><span data-if="dotnet" style="display:none">GetCalibDataObservPose</span><span data-if="python" style="display:none">get_calib_data_observ_pose</span></code></a>
</td>
</tr>
</table></div>

</li>
<li>
<p> <a href="set_calib_data_cam_param.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_cam_param</span><span data-if="c" style="display:none">set_calib_data_cam_param</span><span data-if="cpp" style="display:none">SetCalibDataCamParam</span><span data-if="com" style="display:none">SetCalibDataCamParam</span><span data-if="dotnet" style="display:none">SetCalibDataCamParam</span><span data-if="python" style="display:none">set_calib_data_cam_param</span></code></a>,
<a href="set_calib_data_calib_object.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_calib_object</span><span data-if="c" style="display:none">set_calib_data_calib_object</span><span data-if="cpp" style="display:none">SetCalibDataCalibObject</span><span data-if="com" style="display:none">SetCalibDataCalibObject</span><span data-if="dotnet" style="display:none">SetCalibDataCalibObject</span><span data-if="python" style="display:none">set_calib_data_calib_object</span></code></a>, and
<a href="find_calib_object.html"><code><span data-if="hdevelop" style="display:inline">find_calib_object</span><span data-if="c" style="display:none">find_calib_object</span><span data-if="cpp" style="display:none">FindCalibObject</span><span data-if="com" style="display:none">FindCalibObject</span><span data-if="dotnet" style="display:none">FindCalibObject</span><span data-if="python" style="display:none">find_calib_object</span></code></a> or <a href="set_calib_data_observ_points.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_observ_points</span><span data-if="c" style="display:none">set_calib_data_observ_points</span><span data-if="cpp" style="display:none">SetCalibDataObservPoints</span><span data-if="com" style="display:none">SetCalibDataObservPoints</span><span data-if="dotnet" style="display:none">SetCalibDataObservPoints</span><span data-if="python" style="display:none">set_calib_data_observ_points</span></code></a>
(observations obtained by cameras):
</p>
<p>See the section <code>'Content of Calibration Data Model When Calibrating Cameras'</code>.
</p>
</li>
<li>
<p> <a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a>:
</p>
<p>Moving camera scenario:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Pose of robot tool</b> in camera coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose'</span><span data-if="c" style="display:none">"tool_in_cam_pose"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose"</span><span data-if="com" style="display:none">"tool_in_cam_pose"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose"</span><span data-if="python" style="display:none">"tool_in_cam_pose"</span></i>  </td>
</tr>
<tr>
<td style="text-align:left">
<b>Pose of calibration object</b> in robot base coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose'</span><span data-if="c" style="display:none">"obj_in_base_pose"</span><span data-if="cpp" style="display:none">"obj_in_base_pose"</span><span data-if="com" style="display:none">"obj_in_base_pose"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose"</span><span data-if="python" style="display:none">"obj_in_base_pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Standard deviations</b> of the Pose of the robot tool in camera coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose_deviations'</span><span data-if="c" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="com" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="python" style="display:none">"tool_in_cam_pose_deviations"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Covariance matrices</b> of the Pose of the robot tool in camera coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose_covariances'</span><span data-if="c" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="com" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="python" style="display:none">"tool_in_cam_pose_covariances"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Standard deviations</b> of the Pose of the calibration object in robot base coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose_deviations'</span><span data-if="c" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="cpp" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="com" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="python" style="display:none">"obj_in_base_pose_deviations"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Covariance matrices</b> of the Pose of the calibration object in robot base coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose_covariances'</span><span data-if="c" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="cpp" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="com" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="python" style="display:none">"obj_in_base_pose_covariances"</span></i>
</td>
</tr>
</table></div>

<p>Stationary camera scenario:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Pose of robot base</b> in camera coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose'</span><span data-if="c" style="display:none">"base_in_cam_pose"</span><span data-if="cpp" style="display:none">"base_in_cam_pose"</span><span data-if="com" style="display:none">"base_in_cam_pose"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose"</span><span data-if="python" style="display:none">"base_in_cam_pose"</span></i>  </td>
</tr>
<tr>
<td style="text-align:left">
<b>Pose of calibration object</b> in robot tool coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose'</span><span data-if="c" style="display:none">"obj_in_tool_pose"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose"</span><span data-if="com" style="display:none">"obj_in_tool_pose"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose"</span><span data-if="python" style="display:none">"obj_in_tool_pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Standard deviations</b> of the Pose of the robot base in camera coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose_deviations'</span><span data-if="c" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="cpp" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="com" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="python" style="display:none">"base_in_cam_pose_deviations"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Covariance matrices</b> of the Pose of the robot base in camera coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose_covariances'</span><span data-if="c" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="cpp" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="com" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="python" style="display:none">"base_in_cam_pose_covariances"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Standard deviations</b> of the Pose of the calibration object in robot tool coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose_deviations'</span><span data-if="c" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="com" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="python" style="display:none">"obj_in_tool_pose_deviations"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Covariance matrices</b> of the Pose of the calibration object in robot tool coordinate system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> </td>
<td style="text-align:left"> <i>0</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'obj_in_tool_covariances'</span><span data-if="c" style="display:none">"obj_in_tool_covariances"</span><span data-if="cpp" style="display:none">"obj_in_tool_covariances"</span><span data-if="com" style="display:none">"obj_in_tool_covariances"</span><span data-if="dotnet" style="display:none">"obj_in_tool_covariances"</span><span data-if="python" style="display:none">"obj_in_tool_covariances"</span></i>
</td>
</tr>
</table></div>

<p>Both hand-eye scenarios:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Calibrated poses of the calibration object</b> in camera coordinate system (not available for SCARA robots) </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i> </td>
<td style="text-align:left"> <i>[0,  CalibObjPoseIdx]</i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Root mean square error (RMSE)</b> of the back projection after the optimization of the camera system </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera_calib_error'</span><span data-if="c" style="display:none">"camera_calib_error"</span><span data-if="cpp" style="display:none">"camera_calib_error"</span><span data-if="com" style="display:none">"camera_calib_error"</span><span data-if="dotnet" style="display:none">"camera_calib_error"</span><span data-if="python" style="display:none">"camera_calib_error"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Pose error of the complete chain of transformations</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'hand_eye_calib_error'</span><span data-if="c" style="display:none">"hand_eye_calib_error"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error"</span><span data-if="com" style="display:none">"hand_eye_calib_error"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error"</span><span data-if="python" style="display:none">"hand_eye_calib_error"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Camera setup model</b> (needed for multi-view stereo reconstruction) </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera_setup_model'</span><span data-if="c" style="display:none">"camera_setup_model"</span><span data-if="cpp" style="display:none">"camera_setup_model"</span><span data-if="com" style="display:none">"camera_setup_model"</span><span data-if="dotnet" style="display:none">"camera_setup_model"</span><span data-if="python" style="display:none">"camera_setup_model"</span></i>
</td>
</tr>
</table></div>

<p>Both hand-eye scenarios, if <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i> is set to <i><span data-if="hdevelop" style="display:inline">'stochastic'</span><span data-if="c" style="display:none">"stochastic"</span><span data-if="cpp" style="display:none">"stochastic"</span><span data-if="com" style="display:none">"stochastic"</span><span data-if="dotnet" style="display:none">"stochastic"</span><span data-if="python" style="display:none">"stochastic"</span></i>:
</p>
<div style="text-align:center"><table style="width:100%;margin-left:auto;margin-right:auto" class="grid">
<col span="1" style="width:25%;">
<col span="1" style="width:17%;">
<col span="1" style="width:24%;">
<col span="1" style="width:34%;">
<tr>
<td style="text-align:left">
Data added to the model  </td>
<td style="text-align:left"> <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a> </td>
<td style="text-align:left"> <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> </td>
<td style="text-align:left"> <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Root mean square error (RMSE)</b> of the back projection into camera images, via pose chain using corrected tool poses </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'camera_calib_error_corrected_tool'</span><span data-if="c" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="cpp" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="com" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="dotnet" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="python" style="display:none">"camera_calib_error_corrected_tool"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Pose error of the complete chain of transformations</b> using corrected tool poses </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'hand_eye_calib_error_corrected_tool'</span><span data-if="c" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="com" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="python" style="display:none">"hand_eye_calib_error_corrected_tool"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Standard deviations</b> of the input poses of the robot tool in robot base coordinates </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool'</span><span data-if="c" style="display:none">"tool"</span><span data-if="cpp" style="display:none">"tool"</span><span data-if="com" style="display:none">"tool"</span><span data-if="dotnet" style="display:none">"tool"</span><span data-if="python" style="display:none">"tool"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool_translation_deviation'</span><span data-if="c" style="display:none">"tool_translation_deviation"</span><span data-if="cpp" style="display:none">"tool_translation_deviation"</span><span data-if="com" style="display:none">"tool_translation_deviation"</span><span data-if="dotnet" style="display:none">"tool_translation_deviation"</span><span data-if="python" style="display:none">"tool_translation_deviation"</span></i>, <i><span data-if="hdevelop" style="display:inline">'tool_rotation_deviation'</span><span data-if="c" style="display:none">"tool_rotation_deviation"</span><span data-if="cpp" style="display:none">"tool_rotation_deviation"</span><span data-if="com" style="display:none">"tool_rotation_deviation"</span><span data-if="dotnet" style="display:none">"tool_rotation_deviation"</span><span data-if="python" style="display:none">"tool_rotation_deviation"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<b>Corrected poses of the robot tool in robot base coordinates</b> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool'</span><span data-if="c" style="display:none">"tool"</span><span data-if="cpp" style="display:none">"tool"</span><span data-if="com" style="display:none">"tool"</span><span data-if="dotnet" style="display:none">"tool"</span><span data-if="python" style="display:none">"tool"</span></i> </td>
<td style="text-align:left"> <code>CalibObjPoseIdx</code> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'tool_in_base_pose_corrected'</span><span data-if="c" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="cpp" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="com" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="python" style="display:none">"tool_in_base_pose_corrected"</span></i>
</td>
</tr>
</table></div>

<p>The following sections describe the parameters for the specific categories of
data in more detail.
</p>
</li>
</ul>
<h3>Model-Related Data</h3>
<dl class="generic">

<dt><b><a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span></i>:</b></dt>
<dd>


<p><a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> must be set to <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i>.
</p>
<p>Depending on the selection
in <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>, the following model-related data is then
returned in <a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'type'</span><span data-if="c" style="display:none">"type"</span><span data-if="cpp" style="display:none">"type"</span><span data-if="com" style="display:none">"type"</span><span data-if="dotnet" style="display:none">"type"</span><span data-if="python" style="display:none">"type"</span></i>:</b></dt>
<dd><p>

Type of the calibration data model. Currently, the five types
<i><span data-if="hdevelop" style="display:inline">'calibration_object'</span><span data-if="c" style="display:none">"calibration_object"</span><span data-if="cpp" style="display:none">"calibration_object"</span><span data-if="com" style="display:none">"calibration_object"</span><span data-if="dotnet" style="display:none">"calibration_object"</span><span data-if="python" style="display:none">"calibration_object"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'hand_eye_stationary_cam'</span><span data-if="c" style="display:none">"hand_eye_stationary_cam"</span><span data-if="cpp" style="display:none">"hand_eye_stationary_cam"</span><span data-if="com" style="display:none">"hand_eye_stationary_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_stationary_cam"</span><span data-if="python" style="display:none">"hand_eye_stationary_cam"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'hand_eye_moving_cam'</span><span data-if="c" style="display:none">"hand_eye_moving_cam"</span><span data-if="cpp" style="display:none">"hand_eye_moving_cam"</span><span data-if="com" style="display:none">"hand_eye_moving_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_moving_cam"</span><span data-if="python" style="display:none">"hand_eye_moving_cam"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'hand_eye_scara_stationary_cam'</span><span data-if="c" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="cpp" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="com" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="python" style="display:none">"hand_eye_scara_stationary_cam"</span></i>, and
<i><span data-if="hdevelop" style="display:inline">'hand_eye_scara_moving_cam'</span><span data-if="c" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="cpp" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="com" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="python" style="display:none">"hand_eye_scara_moving_cam"</span></i> are supported.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'reference_camera'</span><span data-if="c" style="display:none">"reference_camera"</span><span data-if="cpp" style="display:none">"reference_camera"</span><span data-if="com" style="display:none">"reference_camera"</span><span data-if="dotnet" style="display:none">"reference_camera"</span><span data-if="python" style="display:none">"reference_camera"</span></i>:</b></dt>
<dd><p>

Index of the reference camera for the calibration model. All
poses stored in the calibration data model are specified in the
coordinate system of this reference camera.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'num_cameras'</span><span data-if="c" style="display:none">"num_cameras"</span><span data-if="cpp" style="display:none">"num_cameras"</span><span data-if="com" style="display:none">"num_cameras"</span><span data-if="dotnet" style="display:none">"num_cameras"</span><span data-if="python" style="display:none">"num_cameras"</span></i>:</b></dt>
<dd><p>

Number of cameras in the calibration data model (see
<a href="create_calib_data.html"><code><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></code></a>).
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'num_calib_objs'</span><span data-if="c" style="display:none">"num_calib_objs"</span><span data-if="cpp" style="display:none">"num_calib_objs"</span><span data-if="com" style="display:none">"num_calib_objs"</span><span data-if="dotnet" style="display:none">"num_calib_objs"</span><span data-if="python" style="display:none">"num_calib_objs"</span></i>:</b></dt>
<dd><p>

Number of calibration objects in the calibration data model (see
<a href="create_calib_data.html"><code><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></code></a>).
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'common_motion_vector'</span><span data-if="c" style="display:none">"common_motion_vector"</span><span data-if="cpp" style="display:none">"common_motion_vector"</span><span data-if="com" style="display:none">"common_motion_vector"</span><span data-if="dotnet" style="display:none">"common_motion_vector"</span><span data-if="python" style="display:none">"common_motion_vector"</span></i>:</b></dt>
<dd><p>

For stereo setups with telecentric line scan cameras, a string
with a Boolean value (i.e., <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> or <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>)
that determines whether the cameras have a common motion vector.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'camera_setup_model'</span><span data-if="c" style="display:none">"camera_setup_model"</span><span data-if="cpp" style="display:none">"camera_setup_model"</span><span data-if="com" style="display:none">"camera_setup_model"</span><span data-if="dotnet" style="display:none">"camera_setup_model"</span><span data-if="python" style="display:none">"camera_setup_model"</span></i>:</b></dt>
<dd><p>

A handle to a camera setup model containing the poses and the
internal parameters for the calibrated cameras from the current
calibration setup.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'camera_calib_error'</span><span data-if="c" style="display:none">"camera_calib_error"</span><span data-if="cpp" style="display:none">"camera_calib_error"</span><span data-if="com" style="display:none">"camera_calib_error"</span><span data-if="dotnet" style="display:none">"camera_calib_error"</span><span data-if="python" style="display:none">"camera_calib_error"</span></i>:</b></dt>
<dd><p>

The root mean square error (RMSE) of the back projection of the
optimization of the camera system. Typically, this error is
queried after a hand-eye calibration
(<a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a>) was performed, where internally the
camera system is calibrated without returning the error of the
camera calibration. The returned error is identical to the error
returned by <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>, except for
<i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i> set to <i><span data-if="hdevelop" style="display:inline">'stochastic'</span><span data-if="c" style="display:none">"stochastic"</span><span data-if="cpp" style="display:none">"stochastic"</span><span data-if="com" style="display:none">"stochastic"</span><span data-if="dotnet" style="display:none">"stochastic"</span><span data-if="python" style="display:none">"stochastic"</span></i>, which
refines hand-eye poses and camera parameters simultaneously for
articulated robots.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'hand_eye_calib_error'</span><span data-if="c" style="display:none">"hand_eye_calib_error"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error"</span><span data-if="com" style="display:none">"hand_eye_calib_error"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error"</span><span data-if="python" style="display:none">"hand_eye_calib_error"</span></i>:</b></dt>
<dd><p>

After a successful hand-eye calibration, the pose error of the
complete chain of transformations is returned. To be more
precise, a tuple with four elements is returned, where the first
element is the root-mean-square error of the translational part,
the second element is the root-mean-square error of the
rotational part, the third element is the maximum translational
error and the fourth element is the maximum rotational
error. The returned errors are identical to the errors returned
by <a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a>.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i>:</b></dt>
<dd><p>

Optimization method that was set for the hand-eye calibration
(see <a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a>).
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'camera_calib_error_corrected_tool'</span><span data-if="c" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="cpp" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="com" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="dotnet" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="python" style="display:none">"camera_calib_error_corrected_tool"</span></i>:</b></dt>
<dd><p>

The root mean square error (RMSE) of the back projection of
the calibration mark centers into camera images, via the pose chain
using corrected tool poses. By contrast,
<i><span data-if="hdevelop" style="display:inline">'camera_calib_error'</span><span data-if="c" style="display:none">"camera_calib_error"</span><span data-if="cpp" style="display:none">"camera_calib_error"</span><span data-if="com" style="display:none">"camera_calib_error"</span><span data-if="dotnet" style="display:none">"camera_calib_error"</span><span data-if="python" style="display:none">"camera_calib_error"</span></i> uses the direct back projection
of <i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i>. This parameter is only available
if <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i> is set to <i><span data-if="hdevelop" style="display:inline">'stochastic'</span><span data-if="c" style="display:none">"stochastic"</span><span data-if="cpp" style="display:none">"stochastic"</span><span data-if="com" style="display:none">"stochastic"</span><span data-if="dotnet" style="display:none">"stochastic"</span><span data-if="python" style="display:none">"stochastic"</span></i>.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'hand_eye_calib_error_corrected_tool'</span><span data-if="c" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="com" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="python" style="display:none">"hand_eye_calib_error_corrected_tool"</span></i>:</b></dt>
<dd><p>

After a successful hand_eye calibration, the pose error of the
complete chain of transformations using corrected tool poses
is returned. By contrast, <i><span data-if="hdevelop" style="display:inline">'hand_eye_calib_error'</span><span data-if="c" style="display:none">"hand_eye_calib_error"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error"</span><span data-if="com" style="display:none">"hand_eye_calib_error"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error"</span><span data-if="python" style="display:none">"hand_eye_calib_error"</span></i>
uses the input tool poses. This parameter is only available
if <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i> is set to <i><span data-if="hdevelop" style="display:inline">'stochastic'</span><span data-if="c" style="display:none">"stochastic"</span><span data-if="cpp" style="display:none">"stochastic"</span><span data-if="com" style="display:none">"stochastic"</span><span data-if="dotnet" style="display:none">"stochastic"</span><span data-if="python" style="display:none">"stochastic"</span></i>.
</p></dd>
</dl>
<p>
The parameters <i><span data-if="hdevelop" style="display:inline">'reference_camera'</span><span data-if="c" style="display:none">"reference_camera"</span><span data-if="cpp" style="display:none">"reference_camera"</span><span data-if="com" style="display:none">"reference_camera"</span><span data-if="dotnet" style="display:none">"reference_camera"</span><span data-if="python" style="display:none">"reference_camera"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'common_motion_vector'</span><span data-if="c" style="display:none">"common_motion_vector"</span><span data-if="cpp" style="display:none">"common_motion_vector"</span><span data-if="com" style="display:none">"common_motion_vector"</span><span data-if="dotnet" style="display:none">"common_motion_vector"</span><span data-if="python" style="display:none">"common_motion_vector"</span></i>, and <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i>
can be set with <a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a>. The other parameters are set
during the model creation or are a result of the calibration process
and cannot be modified.
</p>
</dd>
</dl>
<h3>Camera-Related Data</h3>
<dl class="generic">

<dt><b><a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i>:</b></dt>
<dd>


<p><a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> determines, if data is queried for all cameras in
general or for a specific camera. With <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i>,
the default value of a parameter for all cameras is returned. In contrast,
if you pass a valid camera index instead, i.e., a number between 0 and
<code><span data-if="hdevelop" style="display:inline">NumCameras</span><span data-if="c" style="display:none">NumCameras</span><span data-if="cpp" style="display:none">NumCameras</span><span data-if="com" style="display:none">NumCameras</span><span data-if="dotnet" style="display:none">numCameras</span><span data-if="python" style="display:none">num_cameras</span></code>-1 (<code><span data-if="hdevelop" style="display:inline">NumCameras</span><span data-if="c" style="display:none">NumCameras</span><span data-if="cpp" style="display:none">NumCameras</span><span data-if="com" style="display:none">NumCameras</span><span data-if="dotnet" style="display:none">numCameras</span><span data-if="python" style="display:none">num_cameras</span></code> is specified during model
creation with <a href="create_calib_data.html"><code><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></code></a>), only the parameter value of the
specified camera is returned.
</p>
<p>By selecting the following parameters in <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>, you can
query which camera parameters are (or have been) optimized during
the calibration performed by <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'calib_settings'</span><span data-if="c" style="display:none">"calib_settings"</span><span data-if="cpp" style="display:none">"calib_settings"</span><span data-if="com" style="display:none">"calib_settings"</span><span data-if="dotnet" style="display:none">"calib_settings"</span><span data-if="python" style="display:none">"calib_settings"</span></i>:</b></dt>
<dd><p>

List of the camera parameters that are marked for calibration.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'excluded_settings'</span><span data-if="c" style="display:none">"excluded_settings"</span><span data-if="cpp" style="display:none">"excluded_settings"</span><span data-if="com" style="display:none">"excluded_settings"</span><span data-if="dotnet" style="display:none">"excluded_settings"</span><span data-if="python" style="display:none">"excluded_settings"</span></i>:</b></dt>
<dd><p>

List of camera parameters that are excluded from the
calibration.
</p></dd>
</dl>
<p>
These parameters can be modified by a corresponding call to
<a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a>.
</p>
<p>The following parameters can only be queried for a specific camera,
i.e., you must pass a valid camera index in <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'type'</span><span data-if="c" style="display:none">"type"</span><span data-if="cpp" style="display:none">"type"</span><span data-if="com" style="display:none">"type"</span><span data-if="dotnet" style="display:none">"type"</span><span data-if="python" style="display:none">"type"</span></i>:</b></dt>
<dd><p>

The camera type that was set with <a href="set_calib_data_cam_param.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_cam_param</span><span data-if="c" style="display:none">set_calib_data_cam_param</span><span data-if="cpp" style="display:none">SetCalibDataCamParam</span><span data-if="com" style="display:none">SetCalibDataCamParam</span><span data-if="dotnet" style="display:none">SetCalibDataCamParam</span><span data-if="python" style="display:none">set_calib_data_cam_param</span></code></a>.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'init_params'</span><span data-if="c" style="display:none">"init_params"</span><span data-if="cpp" style="display:none">"init_params"</span><span data-if="com" style="display:none">"init_params"</span><span data-if="dotnet" style="display:none">"init_params"</span><span data-if="python" style="display:none">"init_params"</span></i>:</b></dt>
<dd><p>

Initial internal camera parameters (set with
<a href="set_calib_data_cam_param.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_cam_param</span><span data-if="c" style="display:none">set_calib_data_cam_param</span><span data-if="cpp" style="display:none">SetCalibDataCamParam</span><span data-if="com" style="display:none">SetCalibDataCamParam</span><span data-if="dotnet" style="display:none">SetCalibDataCamParam</span><span data-if="python" style="display:none">set_calib_data_cam_param</span></code></a>).
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span></i>:</b></dt>
<dd><p>

Optimized internal camera parameters.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'params_deviations'</span><span data-if="c" style="display:none">"params_deviations"</span><span data-if="cpp" style="display:none">"params_deviations"</span><span data-if="com" style="display:none">"params_deviations"</span><span data-if="dotnet" style="display:none">"params_deviations"</span><span data-if="python" style="display:none">"params_deviations"</span></i>:</b></dt>
<dd><p>

Standard deviations of the optimized camera parameters, as
estimated at the end of the camera calibration. Note that if the
tuple returned for <i><span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span></i> contains <span title="1" style="vertical-align:-0.0991602em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.723992em" height="0.573321em" viewBox="0 0 11.583878 9.173141">
<!-- Original BoundingBox: -5.791946 -4.586578 5.791931 4.586563 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_110">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C146.000000 -19.000000,158.000000 -66.000000,164.000000 -91.000000L186.000000 -181.000000C192.000000 -203.000000,198.000000 -225.000000,203.000000 -248.000000C207.000000 -265.000000,215.000000 -294.000000,216.000000 -298.000000C231.000000 -329.000000,284.000000 -420.000000,379.000000 -420.000000C424.000000 -420.000000,433.000000 -383.000000,433.000000 -350.000000C433.000000 -288.000000,384.000000 -160.000000,368.000000 -117.000000C359.000000 -94.000000,358.000000 -82.000000,358.000000 -71.000000C358.000000 -24.000000,393.000000 11.000000,440.000000 11.000000C534.000000 11.000000,571.000000 -135.000000,571.000000 -143.000000C571.000000 -153.000000,562.000000 -153.000000,559.000000 -153.000000C549.000000 -153.000000,549.000000 -150.000000,544.000000 -135.000000C524.000000 -67.000000,491.000000 -11.000000,442.000000 -11.000000C425.000000 -11.000000,418.000000 -21.000000,418.000000 -44.000000C418.000000 -69.000000,427.000000 -93.000000,436.000000 -115.000000C455.000000 -168.000000,497.000000 -278.000000,497.000000 -335.000000C497.000000 -402.000000,454.000000 -442.000000,382.000000 -442.000000C292.000000 -442.000000,243.000000 -378.000000,226.000000 -355.000000C221.000000 -411.000000,180.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,59.000000 -385.000000C43.000000 -351.000000,29.000000 -292.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C151.000000 -420.000000,162.000000 -407.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.224045 7.586578)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_110"></use>
  </g>
</svg></span>
elements, the tuple returned for <i><span data-if="hdevelop" style="display:inline">'params_deviations'</span><span data-if="c" style="display:none">"params_deviations"</span><span data-if="cpp" style="display:none">"params_deviations"</span><span data-if="com" style="display:none">"params_deviations"</span><span data-if="dotnet" style="display:none">"params_deviations"</span><span data-if="python" style="display:none">"params_deviations"</span></i>
contains <span title="2" style="vertical-align:-0.37221em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.21465em" height="1.12127em" viewBox="0 0 51.434418 17.940399">
<!-- Original BoundingBox: -25.717209 -8.970200 25.717209 8.970200 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_40">
      <path style="fill-rule: evenodd;" d="M331.000000 240.000000C331.000000 237.000000,331.000000 235.000000,314.000000 218.000000C189.000000 92.000000,157.000000 -97.000000,157.000000 -250.000000C157.000000 -424.000000,195.000000 -598.000000,318.000000 -723.000000C331.000000 -735.000000,331.000000 -737.000000,331.000000 -740.000000C331.000000 -747.000000,327.000000 -750.000000,321.000000 -750.000000C311.000000 -750.000000,221.000000 -682.000000,162.000000 -555.000000C111.000000 -445.000000,99.000000 -334.000000,99.000000 -250.000000C99.000000 -172.000000,110.000000 -51.000000,165.000000 62.000000C225.000000 185.000000,311.000000 250.000000,321.000000 250.000000C327.000000 250.000000,331.000000 247.000000,331.000000 240.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_41">
      <path style="fill-rule: evenodd;" d="M289.000000 -250.000000C289.000000 -328.000000,278.000000 -449.000000,223.000000 -562.000000C163.000000 -685.000000,77.000000 -750.000000,67.000000 -750.000000C61.000000 -750.000000,57.000000 -746.000000,57.000000 -740.000000C57.000000 -737.000000,57.000000 -735.000000,76.000000 -717.000000C174.000000 -618.000000,231.000000 -459.000000,231.000000 -250.000000C231.000000 -79.000000,194.000000 97.000000,70.000000 223.000000C57.000000 235.000000,57.000000 237.000000,57.000000 240.000000C57.000000 246.000000,61.000000 250.000000,67.000000 250.000000C77.000000 250.000000,167.000000 182.000000,226.000000 55.000000C277.000000 -55.000000,289.000000 -166.000000,289.000000 -250.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_49">
      <path style="fill-rule: evenodd;" d="M294.000000 -640.000000C294.000000 -664.000000,294.000000 -666.000000,271.000000 -666.000000C209.000000 -602.000000,121.000000 -602.000000,89.000000 -602.000000L89.000000 -571.000000C109.000000 -571.000000,168.000000 -571.000000,220.000000 -597.000000L220.000000 -79.000000C220.000000 -43.000000,217.000000 -31.000000,127.000000 -31.000000L95.000000 -31.000000L95.000000 -0.000000L257.000000 -0.000000L130.000000 -3.000000L217.000000 -3.000000L257.000000 -3.000000L297.000000 -3.000000L384.000000 -3.000000L419.000000 -0.000000L419.000000 -31.000000L387.000000 -31.000000C297.000000 -31.000000,294.000000 -42.000000,294.000000 -79.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmsy10_0">
      <path style="fill-rule: evenodd;" d="M659.000000 -230.000000C676.000000 -230.000000,694.000000 -230.000000,694.000000 -250.000000C694.000000 -270.000000,676.000000 -270.000000,659.000000 -270.000000L118.000000 -270.000000C101.000000 -270.000000,83.000000 -270.000000,83.000000 -250.000000C83.000000 -230.000000,101.000000 -230.000000,118.000000 -230.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_110">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C146.000000 -19.000000,158.000000 -66.000000,164.000000 -91.000000L186.000000 -181.000000C192.000000 -203.000000,198.000000 -225.000000,203.000000 -248.000000C207.000000 -265.000000,215.000000 -294.000000,216.000000 -298.000000C231.000000 -329.000000,284.000000 -420.000000,379.000000 -420.000000C424.000000 -420.000000,433.000000 -383.000000,433.000000 -350.000000C433.000000 -288.000000,384.000000 -160.000000,368.000000 -117.000000C359.000000 -94.000000,358.000000 -82.000000,358.000000 -71.000000C358.000000 -24.000000,393.000000 11.000000,440.000000 11.000000C534.000000 11.000000,571.000000 -135.000000,571.000000 -143.000000C571.000000 -153.000000,562.000000 -153.000000,559.000000 -153.000000C549.000000 -153.000000,549.000000 -150.000000,544.000000 -135.000000C524.000000 -67.000000,491.000000 -11.000000,442.000000 -11.000000C425.000000 -11.000000,418.000000 -21.000000,418.000000 -44.000000C418.000000 -69.000000,427.000000 -93.000000,436.000000 -115.000000C455.000000 -168.000000,497.000000 -278.000000,497.000000 -335.000000C497.000000 -402.000000,454.000000 -442.000000,382.000000 -442.000000C292.000000 -442.000000,243.000000 -378.000000,226.000000 -355.000000C221.000000 -411.000000,180.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,59.000000 -385.000000C43.000000 -351.000000,29.000000 -292.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C151.000000 -420.000000,162.000000 -407.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.298782 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_40"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.497681 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_110"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,19.607819 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmsy10_0"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,35.548035 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
    <use xlink:href="#GLYPHcmr10_41" x="5.000095"></use>
  </g>
</svg></span> elements since the camera parameter
tuple contains the camera type in the first element of the
tuple, whereas the tuple returned for
<i><span data-if="hdevelop" style="display:inline">'params_deviations'</span><span data-if="c" style="display:none">"params_deviations"</span><span data-if="cpp" style="display:none">"params_deviations"</span><span data-if="com" style="display:none">"params_deviations"</span><span data-if="dotnet" style="display:none">"params_deviations"</span><span data-if="python" style="display:none">"params_deviations"</span></i> does not contain the camera type.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'params_covariances'</span><span data-if="c" style="display:none">"params_covariances"</span><span data-if="cpp" style="display:none">"params_covariances"</span><span data-if="com" style="display:none">"params_covariances"</span><span data-if="dotnet" style="display:none">"params_covariances"</span><span data-if="python" style="display:none">"params_covariances"</span></i>:</b></dt>
<dd><p>

Covariance matrix of the optimized camera parameters, as
estimated at the end of the camera calibration.  Note that if
the tuple returned for <i><span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span></i> contains <span title="3" style="vertical-align:-0.0991602em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.723992em" height="0.573321em" viewBox="0 0 11.583878 9.173141">
<!-- Original BoundingBox: -5.791946 -4.586578 5.791931 4.586563 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_110">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C146.000000 -19.000000,158.000000 -66.000000,164.000000 -91.000000L186.000000 -181.000000C192.000000 -203.000000,198.000000 -225.000000,203.000000 -248.000000C207.000000 -265.000000,215.000000 -294.000000,216.000000 -298.000000C231.000000 -329.000000,284.000000 -420.000000,379.000000 -420.000000C424.000000 -420.000000,433.000000 -383.000000,433.000000 -350.000000C433.000000 -288.000000,384.000000 -160.000000,368.000000 -117.000000C359.000000 -94.000000,358.000000 -82.000000,358.000000 -71.000000C358.000000 -24.000000,393.000000 11.000000,440.000000 11.000000C534.000000 11.000000,571.000000 -135.000000,571.000000 -143.000000C571.000000 -153.000000,562.000000 -153.000000,559.000000 -153.000000C549.000000 -153.000000,549.000000 -150.000000,544.000000 -135.000000C524.000000 -67.000000,491.000000 -11.000000,442.000000 -11.000000C425.000000 -11.000000,418.000000 -21.000000,418.000000 -44.000000C418.000000 -69.000000,427.000000 -93.000000,436.000000 -115.000000C455.000000 -168.000000,497.000000 -278.000000,497.000000 -335.000000C497.000000 -402.000000,454.000000 -442.000000,382.000000 -442.000000C292.000000 -442.000000,243.000000 -378.000000,226.000000 -355.000000C221.000000 -411.000000,180.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,59.000000 -385.000000C43.000000 -351.000000,29.000000 -292.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C151.000000 -420.000000,162.000000 -407.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.224045 7.586578)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_110"></use>
  </g>
</svg></span>
elements, the tuple returned for <i><span data-if="hdevelop" style="display:inline">'params_covariances'</span><span data-if="c" style="display:none">"params_covariances"</span><span data-if="cpp" style="display:none">"params_covariances"</span><span data-if="com" style="display:none">"params_covariances"</span><span data-if="dotnet" style="display:none">"params_covariances"</span><span data-if="python" style="display:none">"params_covariances"</span></i>
contains <span title="4" style="vertical-align:-0.37221em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="7.52097em" height="1.12127em" viewBox="0 0 120.335480 17.940399">
<!-- Original BoundingBox: -60.167740 -8.970200 60.167740 8.970200 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_40">
      <path style="fill-rule: evenodd;" d="M331.000000 240.000000C331.000000 237.000000,331.000000 235.000000,314.000000 218.000000C189.000000 92.000000,157.000000 -97.000000,157.000000 -250.000000C157.000000 -424.000000,195.000000 -598.000000,318.000000 -723.000000C331.000000 -735.000000,331.000000 -737.000000,331.000000 -740.000000C331.000000 -747.000000,327.000000 -750.000000,321.000000 -750.000000C311.000000 -750.000000,221.000000 -682.000000,162.000000 -555.000000C111.000000 -445.000000,99.000000 -334.000000,99.000000 -250.000000C99.000000 -172.000000,110.000000 -51.000000,165.000000 62.000000C225.000000 185.000000,311.000000 250.000000,321.000000 250.000000C327.000000 250.000000,331.000000 247.000000,331.000000 240.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_41">
      <path style="fill-rule: evenodd;" d="M289.000000 -250.000000C289.000000 -328.000000,278.000000 -449.000000,223.000000 -562.000000C163.000000 -685.000000,77.000000 -750.000000,67.000000 -750.000000C61.000000 -750.000000,57.000000 -746.000000,57.000000 -740.000000C57.000000 -737.000000,57.000000 -735.000000,76.000000 -717.000000C174.000000 -618.000000,231.000000 -459.000000,231.000000 -250.000000C231.000000 -79.000000,194.000000 97.000000,70.000000 223.000000C57.000000 235.000000,57.000000 237.000000,57.000000 240.000000C57.000000 246.000000,61.000000 250.000000,67.000000 250.000000C77.000000 250.000000,167.000000 182.000000,226.000000 55.000000C277.000000 -55.000000,289.000000 -166.000000,289.000000 -250.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_49">
      <path style="fill-rule: evenodd;" d="M294.000000 -640.000000C294.000000 -664.000000,294.000000 -666.000000,271.000000 -666.000000C209.000000 -602.000000,121.000000 -602.000000,89.000000 -602.000000L89.000000 -571.000000C109.000000 -571.000000,168.000000 -571.000000,220.000000 -597.000000L220.000000 -79.000000C220.000000 -43.000000,217.000000 -31.000000,127.000000 -31.000000L95.000000 -31.000000L95.000000 -0.000000L257.000000 -0.000000L130.000000 -3.000000L217.000000 -3.000000L257.000000 -3.000000L297.000000 -3.000000L384.000000 -3.000000L419.000000 -0.000000L419.000000 -31.000000L387.000000 -31.000000C297.000000 -31.000000,294.000000 -42.000000,294.000000 -79.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmsy10_0">
      <path style="fill-rule: evenodd;" d="M659.000000 -230.000000C676.000000 -230.000000,694.000000 -230.000000,694.000000 -250.000000C694.000000 -270.000000,676.000000 -270.000000,659.000000 -270.000000L118.000000 -270.000000C101.000000 -270.000000,83.000000 -270.000000,83.000000 -250.000000C83.000000 -230.000000,101.000000 -230.000000,118.000000 -230.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmsy10_2">
      <path style="fill-rule: evenodd;" d="M389.000000 -278.000000L189.000000 -477.000000C177.000000 -489.000000,175.000000 -491.000000,167.000000 -491.000000C157.000000 -491.000000,147.000000 -482.000000,147.000000 -471.000000C147.000000 -464.000000,149.000000 -462.000000,160.000000 -451.000000L360.000000 -250.000000L160.000000 -49.000000C149.000000 -38.000000,147.000000 -36.000000,147.000000 -29.000000C147.000000 -18.000000,157.000000 -9.000000,167.000000 -9.000000C175.000000 -9.000000,177.000000 -11.000000,189.000000 -23.000000L388.000000 -222.000000L595.000000 -15.000000C597.000000 -14.000000,604.000000 -9.000000,610.000000 -9.000000C622.000000 -9.000000,630.000000 -18.000000,630.000000 -29.000000C630.000000 -31.000000,630.000000 -35.000000,627.000000 -40.000000C626.000000 -42.000000,467.000000 -199.000000,417.000000 -250.000000L600.000000 -433.000000C605.000000 -439.000000,620.000000 -452.000000,625.000000 -458.000000C626.000000 -460.000000,630.000000 -464.000000,630.000000 -471.000000C630.000000 -482.000000,622.000000 -491.000000,610.000000 -491.000000C602.000000 -491.000000,598.000000 -487.000000,587.000000 -476.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_110">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C146.000000 -19.000000,158.000000 -66.000000,164.000000 -91.000000L186.000000 -181.000000C192.000000 -203.000000,198.000000 -225.000000,203.000000 -248.000000C207.000000 -265.000000,215.000000 -294.000000,216.000000 -298.000000C231.000000 -329.000000,284.000000 -420.000000,379.000000 -420.000000C424.000000 -420.000000,433.000000 -383.000000,433.000000 -350.000000C433.000000 -288.000000,384.000000 -160.000000,368.000000 -117.000000C359.000000 -94.000000,358.000000 -82.000000,358.000000 -71.000000C358.000000 -24.000000,393.000000 11.000000,440.000000 11.000000C534.000000 11.000000,571.000000 -135.000000,571.000000 -143.000000C571.000000 -153.000000,562.000000 -153.000000,559.000000 -153.000000C549.000000 -153.000000,549.000000 -150.000000,544.000000 -135.000000C524.000000 -67.000000,491.000000 -11.000000,442.000000 -11.000000C425.000000 -11.000000,418.000000 -21.000000,418.000000 -44.000000C418.000000 -69.000000,427.000000 -93.000000,436.000000 -115.000000C455.000000 -168.000000,497.000000 -278.000000,497.000000 -335.000000C497.000000 -402.000000,454.000000 -442.000000,382.000000 -442.000000C292.000000 -442.000000,243.000000 -378.000000,226.000000 -355.000000C221.000000 -411.000000,180.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,59.000000 -385.000000C43.000000 -351.000000,29.000000 -292.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C151.000000 -420.000000,162.000000 -407.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.848251 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_40"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,7.047150 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_110"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,20.157288 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmsy10_0"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,36.097504 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
    <use xlink:href="#GLYPHcmr10_41" x="5.000095"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,53.808945 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmsy10_2"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,69.749176 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_40"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,75.948227 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_110"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,89.058350 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmsy10_0"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,104.998581 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
    <use xlink:href="#GLYPHcmr10_41" x="5.000095"></use>
  </g>
</svg></span> elements since
the camera parameter tuple contains the camera type in the first
element of the tuple, whereas the tuple returned for
<i><span data-if="hdevelop" style="display:inline">'params_covariances'</span><span data-if="c" style="display:none">"params_covariances"</span><span data-if="cpp" style="display:none">"params_covariances"</span><span data-if="com" style="display:none">"params_covariances"</span><span data-if="dotnet" style="display:none">"params_covariances"</span><span data-if="python" style="display:none">"params_covariances"</span></i> does not contain the camera type.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'params_labels'</span><span data-if="c" style="display:none">"params_labels"</span><span data-if="cpp" style="display:none">"params_labels"</span><span data-if="com" style="display:none">"params_labels"</span><span data-if="dotnet" style="display:none">"params_labels"</span><span data-if="python" style="display:none">"params_labels"</span></i>:</b></dt>
<dd><p>

A convenience list of labels for the entries returned by
<i><span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span></i>. This list is camera-type specific.  Note that
this list contains the label <i><span data-if="hdevelop" style="display:inline">'camera_type'</span><span data-if="c" style="display:none">"camera_type"</span><span data-if="cpp" style="display:none">"camera_type"</span><span data-if="com" style="display:none">"camera_type"</span><span data-if="dotnet" style="display:none">"camera_type"</span><span data-if="python" style="display:none">"camera_type"</span></i> in its first
position.  If the first element of the tuple is removed, the
list refers to the labels of <i><span data-if="hdevelop" style="display:inline">'params_deviations'</span><span data-if="c" style="display:none">"params_deviations"</span><span data-if="cpp" style="display:none">"params_deviations"</span><span data-if="com" style="display:none">"params_deviations"</span><span data-if="dotnet" style="display:none">"params_deviations"</span><span data-if="python" style="display:none">"params_deviations"</span></i> and
the labels of the rows and columns of
<i><span data-if="hdevelop" style="display:inline">'params_covariances'</span><span data-if="c" style="display:none">"params_covariances"</span><span data-if="cpp" style="display:none">"params_covariances"</span><span data-if="com" style="display:none">"params_covariances"</span><span data-if="dotnet" style="display:none">"params_covariances"</span><span data-if="python" style="display:none">"params_covariances"</span></i>.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'init_pose'</span><span data-if="c" style="display:none">"init_pose"</span><span data-if="cpp" style="display:none">"init_pose"</span><span data-if="com" style="display:none">"init_pose"</span><span data-if="dotnet" style="display:none">"init_pose"</span><span data-if="python" style="display:none">"init_pose"</span></i>:</b></dt>
<dd><p>

Initial camera pose, relative to the current reference
camera. It is computed internally based on observation poses
during the calibration process (see <a href="toc_calibration.html">Calibration</a>).
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i>:</b></dt>
<dd><p>

Optimized camera pose, relative to the current reference camera.
If one single telecentric camera is calibrated, the translation
along the z-axis is set to the value 0.0. If more than one
telecentric camera is calibrated, the camera poses are moved in
direction of their z-axis until they all lie on a sphere
centered at the first observed calibration plate. The radius of
the sphere corresponds to the longest distance of a camera to
the first observed calibration plate. If this calculated
distance is smaller than 1 m, the radius is set to 1 m.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'pose_labels'</span><span data-if="c" style="display:none">"pose_labels"</span><span data-if="cpp" style="display:none">"pose_labels"</span><span data-if="com" style="display:none">"pose_labels"</span><span data-if="dotnet" style="display:none">"pose_labels"</span><span data-if="python" style="display:none">"pose_labels"</span></i>:</b></dt>
<dd><p>

A convenience list of labels for the entries returned by
<i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i>.
</p></dd>
</dl>
<p>
The calibrated camera parameters (<i><span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span></i> and
<i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i>) can be queried only after a successful execution of
<a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>. The initial internal camera parameters
<i><span data-if="hdevelop" style="display:inline">'init_params'</span><span data-if="c" style="display:none">"init_params"</span><span data-if="cpp" style="display:none">"init_params"</span><span data-if="com" style="display:none">"init_params"</span><span data-if="dotnet" style="display:none">"init_params"</span><span data-if="python" style="display:none">"init_params"</span></i> can be queried after a successful call to
<a href="set_calib_data_cam_param.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_cam_param</span><span data-if="c" style="display:none">set_calib_data_cam_param</span><span data-if="cpp" style="display:none">SetCalibDataCamParam</span><span data-if="com" style="display:none">SetCalibDataCamParam</span><span data-if="dotnet" style="display:none">SetCalibDataCamParam</span><span data-if="python" style="display:none">set_calib_data_cam_param</span></code></a>.
</p>
</dd>
</dl>
<h3>Data Related to Calibration Objects</h3>
<dl class="generic">

<dt><b><a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>:</b></dt>
<dd>


<p><a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> must be set to a valid calibration object index
(number between 0 and <code><span data-if="hdevelop" style="display:inline">NumCalibObjects</span><span data-if="c" style="display:none">NumCalibObjects</span><span data-if="cpp" style="display:none">NumCalibObjects</span><span data-if="com" style="display:none">NumCalibObjects</span><span data-if="dotnet" style="display:none">numCalibObjects</span><span data-if="python" style="display:none">num_calib_objects</span></code>-1).
<code><span data-if="hdevelop" style="display:inline">NumCalibObjects</span><span data-if="c" style="display:none">NumCalibObjects</span><span data-if="cpp" style="display:none">NumCalibObjects</span><span data-if="com" style="display:none">NumCalibObjects</span><span data-if="dotnet" style="display:none">numCalibObjects</span><span data-if="python" style="display:none">num_calib_objects</span></code> is specified during the model creation with
<a href="create_calib_data.html"><code><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></code></a>.
</p>
<p>The following parameters can be queried with
<a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> and are returned in <a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'num_marks'</span><span data-if="c" style="display:none">"num_marks"</span><span data-if="cpp" style="display:none">"num_marks"</span><span data-if="com" style="display:none">"num_marks"</span><span data-if="dotnet" style="display:none">"num_marks"</span><span data-if="python" style="display:none">"num_marks"</span></i>:</b></dt>
<dd><p>

Number of calibration marks of the calibration object.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'x'</span><span data-if="c" style="display:none">"x"</span><span data-if="cpp" style="display:none">"x"</span><span data-if="com" style="display:none">"x"</span><span data-if="dotnet" style="display:none">"x"</span><span data-if="python" style="display:none">"x"</span></i>, <i><span data-if="hdevelop" style="display:inline">'y'</span><span data-if="c" style="display:none">"y"</span><span data-if="cpp" style="display:none">"y"</span><span data-if="com" style="display:none">"y"</span><span data-if="dotnet" style="display:none">"y"</span><span data-if="python" style="display:none">"y"</span></i>, <i><span data-if="hdevelop" style="display:inline">'z'</span><span data-if="c" style="display:none">"z"</span><span data-if="cpp" style="display:none">"z"</span><span data-if="com" style="display:none">"z"</span><span data-if="dotnet" style="display:none">"z"</span><span data-if="python" style="display:none">"z"</span></i>:</b></dt>
<dd><p>

Coordinates of the calibration marks relative to the calibration
object coordinate system.
</p></dd>
</dl>
<p>
These parameters can be modified with
<a href="set_calib_data_calib_object.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data_calib_object</span><span data-if="c" style="display:none">set_calib_data_calib_object</span><span data-if="cpp" style="display:none">SetCalibDataCalibObject</span><span data-if="com" style="display:none">SetCalibDataCalibObject</span><span data-if="dotnet" style="display:none">SetCalibDataCalibObject</span><span data-if="python" style="display:none">set_calib_data_calib_object</span></code></a>.
</p>
</dd>
</dl>
<h3>Data Related to Calibration Object Poses</h3>
<dl class="generic">

<dt><b><a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span></i>:</b></dt>
<dd>


<p><a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> determines, if data is queried for all
calibration object poses in general or for a specific calibration object
pose. With <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i>, the default value of a
parameter for all calibration object poses is returned. In contrast, if
you pass a valid calibration object index instead, i.e., a tuple
containing a valid index pair <code>[CalibObjIdx, CalibObjPoseIdx]</code>,
only the parameter value of the specified calibration object pose is
returned.
</p>
<p>By selecting the following parameters in <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>, you can
query which calibration object pose parameters are (or have been)
optimized during the calibration performed by
<a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'calib_settings'</span><span data-if="c" style="display:none">"calib_settings"</span><span data-if="cpp" style="display:none">"calib_settings"</span><span data-if="com" style="display:none">"calib_settings"</span><span data-if="dotnet" style="display:none">"calib_settings"</span><span data-if="python" style="display:none">"calib_settings"</span></i>:</b></dt>
<dd><p>

List of calibration object pose parameters marked for
calibration.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'excluded_settings'</span><span data-if="c" style="display:none">"excluded_settings"</span><span data-if="cpp" style="display:none">"excluded_settings"</span><span data-if="com" style="display:none">"excluded_settings"</span><span data-if="dotnet" style="display:none">"excluded_settings"</span><span data-if="python" style="display:none">"excluded_settings"</span></i>:</b></dt>
<dd><p>

List of calibration object pose parameters excluded from
calibration.
</p></dd>
</dl>
<p>
These parameters can be set with <a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a>.
</p>
<p>The following parameters can only be queried for a specific
calibration object pose, i.e., you must pass a valid index pair
<code>[CalibObjIdx, CalibObjPoseIdx]</code> in <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'init_pose'</span><span data-if="c" style="display:none">"init_pose"</span><span data-if="cpp" style="display:none">"init_pose"</span><span data-if="com" style="display:none">"init_pose"</span><span data-if="dotnet" style="display:none">"init_pose"</span><span data-if="python" style="display:none">"init_pose"</span></i>:</b></dt>
<dd><p>

Initial calibration object pose. It is computed internally based
on observation poses during the calibration process (see
<a href="toc_calibration.html">Calibration</a>). This pose is relative to the current
reference camera.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i>:</b></dt>
<dd><p>

Optimized calibration object pose, relative to current reference
camera.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'pose_labels'</span><span data-if="c" style="display:none">"pose_labels"</span><span data-if="cpp" style="display:none">"pose_labels"</span><span data-if="com" style="display:none">"pose_labels"</span><span data-if="dotnet" style="display:none">"pose_labels"</span><span data-if="python" style="display:none">"pose_labels"</span></i>:</b></dt>
<dd><p>

A convenience list of labels for the entries returned by
<i><span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span></i>.
</p></dd>
</dl>
<p>
These parameters cannot be explicitly modified and can only be
queried after <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a> was executed.
</p>
</dd>
</dl>
<h3>Hand-Eye Calibration Related Data</h3>
<dl class="generic">

<dt><b><a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'tool'</span><span data-if="c" style="display:none">"tool"</span><span data-if="cpp" style="display:none">"tool"</span><span data-if="com" style="display:none">"tool"</span><span data-if="dotnet" style="display:none">"tool"</span><span data-if="python" style="display:none">"tool"</span></i>:</b></dt>
<dd>


<p>The following parameters can be queried with
<a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a> and are returned in <a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'tool_in_base_pose'</span><span data-if="c" style="display:none">"tool_in_base_pose"</span><span data-if="cpp" style="display:none">"tool_in_base_pose"</span><span data-if="com" style="display:none">"tool_in_base_pose"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose"</span><span data-if="python" style="display:none">"tool_in_base_pose"</span></i>:</b></dt>
<dd><p>

Pose of the robot tool in robot base coordinates with Index
<a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>. These poses were previously set using
<a href="set_calib_data.html"><code><span data-if="hdevelop" style="display:inline">set_calib_data</span><span data-if="c" style="display:none">set_calib_data</span><span data-if="cpp" style="display:none">SetCalibData</span><span data-if="com" style="display:none">SetCalibData</span><span data-if="dotnet" style="display:none">SetCalibData</span><span data-if="python" style="display:none">set_calib_data</span></code></a> and served as input for
the hand-eye calibration algorithm.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'tool_in_base_pose_corrected'</span><span data-if="c" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="cpp" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="com" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="python" style="display:none">"tool_in_base_pose_corrected"</span></i>:</b></dt>
<dd><p>

Corrected pose of the robot tool in robot base coordinates of the
input <i><span data-if="hdevelop" style="display:inline">'tool_in_base_pose'</span><span data-if="c" style="display:none">"tool_in_base_pose"</span><span data-if="cpp" style="display:none">"tool_in_base_pose"</span><span data-if="com" style="display:none">"tool_in_base_pose"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose"</span><span data-if="python" style="display:none">"tool_in_base_pose"</span></i> with Index <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a>.
This parameter is only available if <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i>
is set to <i><span data-if="hdevelop" style="display:inline">'stochastic'</span><span data-if="c" style="display:none">"stochastic"</span><span data-if="cpp" style="display:none">"stochastic"</span><span data-if="com" style="display:none">"stochastic"</span><span data-if="dotnet" style="display:none">"stochastic"</span><span data-if="python" style="display:none">"stochastic"</span></i> and after <a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a> was executed.
</p></dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'tool_translation_deviation'</span><span data-if="c" style="display:none">"tool_translation_deviation"</span><span data-if="cpp" style="display:none">"tool_translation_deviation"</span><span data-if="com" style="display:none">"tool_translation_deviation"</span><span data-if="dotnet" style="display:none">"tool_translation_deviation"</span><span data-if="python" style="display:none">"tool_translation_deviation"</span></i>, <i><span data-if="hdevelop" style="display:inline">'tool_rotation_deviation'</span><span data-if="c" style="display:none">"tool_rotation_deviation"</span><span data-if="cpp" style="display:none">"tool_rotation_deviation"</span><span data-if="com" style="display:none">"tool_rotation_deviation"</span><span data-if="dotnet" style="display:none">"tool_rotation_deviation"</span><span data-if="python" style="display:none">"tool_rotation_deviation"</span></i>:</b></dt>
<dd><p>

Standard deviations of the input poses of the robot tool in robot base
coordinates. <a href="#ItemIdx"><i><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></i></a> has to be set to <i><span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></i>.
This parameter is only available if <i><span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span></i>
is set to <i><span data-if="hdevelop" style="display:inline">'stochastic'</span><span data-if="c" style="display:none">"stochastic"</span><span data-if="cpp" style="display:none">"stochastic"</span><span data-if="com" style="display:none">"stochastic"</span><span data-if="dotnet" style="display:none">"stochastic"</span><span data-if="python" style="display:none">"stochastic"</span></i> and after <a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a> was executed.
</p></dd>
</dl>
</dd>
</dl>
<p>After performing a successful hand-eye calibration using
<a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a>, the following poses can be queried for a
calibration data model of type:
</p>
<dl class="generic">

<dt><b><i><span data-if="hdevelop" style="display:inline">'hand_eye_moving_cam'</span><span data-if="c" style="display:none">"hand_eye_moving_cam"</span><span data-if="cpp" style="display:none">"hand_eye_moving_cam"</span><span data-if="com" style="display:none">"hand_eye_moving_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_moving_cam"</span><span data-if="python" style="display:none">"hand_eye_moving_cam"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'hand_eye_scara_moving_cam'</span><span data-if="c" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="cpp" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="com" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_scara_moving_cam"</span><span data-if="python" style="display:none">"hand_eye_scara_moving_cam"</span></i>:</b></dt>
<dd>


<p>For <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> and
<a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose'</span><span data-if="c" style="display:none">"tool_in_cam_pose"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose"</span><span data-if="com" style="display:none">"tool_in_cam_pose"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose"</span><span data-if="python" style="display:none">"tool_in_cam_pose"</span></i>, the pose of the
robot tool in the camera coordinate system is returned in
<a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>. For <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>
and <a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose'</span><span data-if="c" style="display:none">"obj_in_base_pose"</span><span data-if="cpp" style="display:none">"obj_in_base_pose"</span><span data-if="com" style="display:none">"obj_in_base_pose"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose"</span><span data-if="python" style="display:none">"obj_in_base_pose"</span></i>, the pose of
the calibration object in the robot base coordinate system is
returned in <a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>.
</p>
<p>Note that when calibrating SCARA robots, it is not possible to
determine the Z translation of <i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose'</span><span data-if="c" style="display:none">"obj_in_base_pose"</span><span data-if="cpp" style="display:none">"obj_in_base_pose"</span><span data-if="com" style="display:none">"obj_in_base_pose"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose"</span><span data-if="python" style="display:none">"obj_in_base_pose"</span></i>.
To eliminate this ambiguity the Z translation
<i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose'</span><span data-if="c" style="display:none">"obj_in_base_pose"</span><span data-if="cpp" style="display:none">"obj_in_base_pose"</span><span data-if="com" style="display:none">"obj_in_base_pose"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose"</span><span data-if="python" style="display:none">"obj_in_base_pose"</span></i> is internally set to 0.0 and the
<i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose'</span><span data-if="c" style="display:none">"tool_in_cam_pose"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose"</span><span data-if="com" style="display:none">"tool_in_cam_pose"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose"</span><span data-if="python" style="display:none">"tool_in_cam_pose"</span></i> is calculated accordingly.  It is
necessary to determine the true translation in Z after the
calibration (see <a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a>).
</p>
<p>The standard deviations and the covariance matrices of the 6
pose parameters of both poses can be queried with
<i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose_deviations'</span><span data-if="c" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="com" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="python" style="display:none">"tool_in_cam_pose_deviations"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'tool_in_cam_pose_covariances'</span><span data-if="c" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="com" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="python" style="display:none">"tool_in_cam_pose_covariances"</span></i> (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i>),
<i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose_deviations'</span><span data-if="c" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="cpp" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="com" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="python" style="display:none">"obj_in_base_pose_deviations"</span></i>, and
<i><span data-if="hdevelop" style="display:inline">'obj_in_base_pose_covariances'</span><span data-if="c" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="cpp" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="com" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="python" style="display:none">"obj_in_base_pose_covariances"</span></i> (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>). Like poses, they are
specified in the units [m] and [°].
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'hand_eye_stationary_cam'</span><span data-if="c" style="display:none">"hand_eye_stationary_cam"</span><span data-if="cpp" style="display:none">"hand_eye_stationary_cam"</span><span data-if="com" style="display:none">"hand_eye_stationary_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_stationary_cam"</span><span data-if="python" style="display:none">"hand_eye_stationary_cam"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'hand_eye_scara_stationary_cam'</span><span data-if="c" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="cpp" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="com" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="dotnet" style="display:none">"hand_eye_scara_stationary_cam"</span><span data-if="python" style="display:none">"hand_eye_scara_stationary_cam"</span></i>:</b></dt>
<dd>
<p>

For <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i> and
<a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose'</span><span data-if="c" style="display:none">"base_in_cam_pose"</span><span data-if="cpp" style="display:none">"base_in_cam_pose"</span><span data-if="com" style="display:none">"base_in_cam_pose"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose"</span><span data-if="python" style="display:none">"base_in_cam_pose"</span></i>, the pose of the
robot base in the camera coordinate system is returned in
<a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>.  For
<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i> and
<a href="#DataName"><i><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose'</span><span data-if="c" style="display:none">"obj_in_tool_pose"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose"</span><span data-if="com" style="display:none">"obj_in_tool_pose"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose"</span><span data-if="python" style="display:none">"obj_in_tool_pose"</span></i>, the pose of the
calibration object in the robot tool coordinate system is returned
in <a href="#DataValue"><i><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></i></a>.
</p>
<p>Note that when calibrating SCARA robots, it is not possible to
determine the Z translation of <i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose'</span><span data-if="c" style="display:none">"obj_in_tool_pose"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose"</span><span data-if="com" style="display:none">"obj_in_tool_pose"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose"</span><span data-if="python" style="display:none">"obj_in_tool_pose"</span></i>. To
eliminate this ambiguity the Z translation of
<i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose'</span><span data-if="c" style="display:none">"obj_in_tool_pose"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose"</span><span data-if="com" style="display:none">"obj_in_tool_pose"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose"</span><span data-if="python" style="display:none">"obj_in_tool_pose"</span></i> is internally set to 0.0 and the
<i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose'</span><span data-if="c" style="display:none">"base_in_cam_pose"</span><span data-if="cpp" style="display:none">"base_in_cam_pose"</span><span data-if="com" style="display:none">"base_in_cam_pose"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose"</span><span data-if="python" style="display:none">"base_in_cam_pose"</span></i> is calculated accordingly.  It is
necessary to determine the true translation in Z after the
calibration (see <a href="calibrate_hand_eye.html"><code><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></code></a>).
</p>
<p>The standard deviations and the covariance matrices of the 6
pose parameters of both poses can be queried with
<i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose_deviations'</span><span data-if="c" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="cpp" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="com" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="python" style="display:none">"base_in_cam_pose_deviations"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'base_in_cam_pose_covariances'</span><span data-if="c" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="cpp" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="com" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="python" style="display:none">"base_in_cam_pose_covariances"</span></i> (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span></i>),
<i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose_deviations'</span><span data-if="c" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="com" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="python" style="display:none">"obj_in_tool_pose_deviations"</span></i>, and
<i><span data-if="hdevelop" style="display:inline">'obj_in_tool_pose_covariances'</span><span data-if="c" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="com" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="python" style="display:none">"obj_in_tool_pose_covariances"</span></i> (<a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>=<i><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span></i>). Like poses, they are
specified in the units [m] and [°].
</p>
</dd>
</dl>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="CalibDataID" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CalibDataID</span><span data-if="c" style="display:none">CalibDataID</span><span data-if="cpp" style="display:none">CalibDataID</span><span data-if="com" style="display:none">CalibDataID</span><span data-if="dotnet" style="display:none">calibDataID</span><span data-if="python" style="display:none">calib_data_id</span></code></b> (input_control)  </span><span>calib_data <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCalibData.html">HCalibData</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">HHandle</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (handle)</span><span data-if="dotnet" style="display:none"> (<i>IntPtr</i>)</span><span data-if="cpp" style="display:none"> (<i>HHandle</i>)</span><span data-if="c" style="display:none"> (<i>handle</i>)</span></span>
</div>
<p class="pardesc">Handle of a calibration data model.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ItemType" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Type of calibration data item.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'camera'</span>
    <span data-if="c" style="display:none">"camera"</span>
    <span data-if="cpp" style="display:none">"camera"</span>
    <span data-if="com" style="display:none">"camera"</span>
    <span data-if="dotnet" style="display:none">"camera"</span>
    <span data-if="python" style="display:none">"camera"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'calib_obj'</span><span data-if="c" style="display:none">"calib_obj"</span><span data-if="cpp" style="display:none">"calib_obj"</span><span data-if="com" style="display:none">"calib_obj"</span><span data-if="dotnet" style="display:none">"calib_obj"</span><span data-if="python" style="display:none">"calib_obj"</span>, <span data-if="hdevelop" style="display:inline">'calib_obj_pose'</span><span data-if="c" style="display:none">"calib_obj_pose"</span><span data-if="cpp" style="display:none">"calib_obj_pose"</span><span data-if="com" style="display:none">"calib_obj_pose"</span><span data-if="dotnet" style="display:none">"calib_obj_pose"</span><span data-if="python" style="display:none">"calib_obj_pose"</span>, <span data-if="hdevelop" style="display:inline">'camera'</span><span data-if="c" style="display:none">"camera"</span><span data-if="cpp" style="display:none">"camera"</span><span data-if="com" style="display:none">"camera"</span><span data-if="dotnet" style="display:none">"camera"</span><span data-if="python" style="display:none">"camera"</span>, <span data-if="hdevelop" style="display:inline">'model'</span><span data-if="c" style="display:none">"model"</span><span data-if="cpp" style="display:none">"model"</span><span data-if="com" style="display:none">"model"</span><span data-if="dotnet" style="display:none">"model"</span><span data-if="python" style="display:none">"model"</span>, <span data-if="hdevelop" style="display:inline">'tool'</span><span data-if="c" style="display:none">"tool"</span><span data-if="cpp" style="display:none">"tool"</span><span data-if="com" style="display:none">"tool"</span><span data-if="dotnet" style="display:none">"tool"</span><span data-if="python" style="display:none">"tool"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="ItemIdx" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ItemIdx</span><span data-if="c" style="display:none">ItemIdx</span><span data-if="cpp" style="display:none">ItemIdx</span><span data-if="com" style="display:none">ItemIdx</span><span data-if="dotnet" style="display:none">itemIdx</span><span data-if="python" style="display:none">item_idx</span></code></b> (input_control)  </span><span>integer(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[Union[int, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i> / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>Hlong</i> / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Index of the affected item (depending on the
selected <a href="#ItemType"><i><code><span data-if="hdevelop" style="display:inline">ItemType</span><span data-if="c" style="display:none">ItemType</span><span data-if="cpp" style="display:none">ItemType</span><span data-if="com" style="display:none">ItemType</span><span data-if="dotnet" style="display:none">itemType</span><span data-if="python" style="display:none">item_type</span></code></i></a>).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0, 1, 2, <span data-if="hdevelop" style="display:inline">'general'</span><span data-if="c" style="display:none">"general"</span><span data-if="cpp" style="display:none">"general"</span><span data-if="com" style="display:none">"general"</span><span data-if="dotnet" style="display:none">"general"</span><span data-if="python" style="display:none">"general"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="DataName" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DataName</span><span data-if="c" style="display:none">DataName</span><span data-if="cpp" style="display:none">DataName</span><span data-if="com" style="display:none">DataName</span><span data-if="dotnet" style="display:none">dataName</span><span data-if="python" style="display:none">data_name</span></code></b> (input_control)  </span><span>attribute.name(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">The name of the inspected data.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'params'</span>
    <span data-if="c" style="display:none">"params"</span>
    <span data-if="cpp" style="display:none">"params"</span>
    <span data-if="com" style="display:none">"params"</span>
    <span data-if="dotnet" style="display:none">"params"</span>
    <span data-if="python" style="display:none">"params"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'base_in_cam_pose'</span><span data-if="c" style="display:none">"base_in_cam_pose"</span><span data-if="cpp" style="display:none">"base_in_cam_pose"</span><span data-if="com" style="display:none">"base_in_cam_pose"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose"</span><span data-if="python" style="display:none">"base_in_cam_pose"</span>, <span data-if="hdevelop" style="display:inline">'base_in_cam_pose_covariances'</span><span data-if="c" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="cpp" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="com" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose_covariances"</span><span data-if="python" style="display:none">"base_in_cam_pose_covariances"</span>, <span data-if="hdevelop" style="display:inline">'base_in_cam_pose_deviations'</span><span data-if="c" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="cpp" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="com" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="dotnet" style="display:none">"base_in_cam_pose_deviations"</span><span data-if="python" style="display:none">"base_in_cam_pose_deviations"</span>, <span data-if="hdevelop" style="display:inline">'calib_settings'</span><span data-if="c" style="display:none">"calib_settings"</span><span data-if="cpp" style="display:none">"calib_settings"</span><span data-if="com" style="display:none">"calib_settings"</span><span data-if="dotnet" style="display:none">"calib_settings"</span><span data-if="python" style="display:none">"calib_settings"</span>, <span data-if="hdevelop" style="display:inline">'camera_calib_error'</span><span data-if="c" style="display:none">"camera_calib_error"</span><span data-if="cpp" style="display:none">"camera_calib_error"</span><span data-if="com" style="display:none">"camera_calib_error"</span><span data-if="dotnet" style="display:none">"camera_calib_error"</span><span data-if="python" style="display:none">"camera_calib_error"</span>, <span data-if="hdevelop" style="display:inline">'camera_calib_error_corrected_tool'</span><span data-if="c" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="cpp" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="com" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="dotnet" style="display:none">"camera_calib_error_corrected_tool"</span><span data-if="python" style="display:none">"camera_calib_error_corrected_tool"</span>, <span data-if="hdevelop" style="display:inline">'camera_setup_model'</span><span data-if="c" style="display:none">"camera_setup_model"</span><span data-if="cpp" style="display:none">"camera_setup_model"</span><span data-if="com" style="display:none">"camera_setup_model"</span><span data-if="dotnet" style="display:none">"camera_setup_model"</span><span data-if="python" style="display:none">"camera_setup_model"</span>, <span data-if="hdevelop" style="display:inline">'common_motion_vector'</span><span data-if="c" style="display:none">"common_motion_vector"</span><span data-if="cpp" style="display:none">"common_motion_vector"</span><span data-if="com" style="display:none">"common_motion_vector"</span><span data-if="dotnet" style="display:none">"common_motion_vector"</span><span data-if="python" style="display:none">"common_motion_vector"</span>, <span data-if="hdevelop" style="display:inline">'excluded_settings'</span><span data-if="c" style="display:none">"excluded_settings"</span><span data-if="cpp" style="display:none">"excluded_settings"</span><span data-if="com" style="display:none">"excluded_settings"</span><span data-if="dotnet" style="display:none">"excluded_settings"</span><span data-if="python" style="display:none">"excluded_settings"</span>, <span data-if="hdevelop" style="display:inline">'hand_eye_calib_error'</span><span data-if="c" style="display:none">"hand_eye_calib_error"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error"</span><span data-if="com" style="display:none">"hand_eye_calib_error"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error"</span><span data-if="python" style="display:none">"hand_eye_calib_error"</span>, <span data-if="hdevelop" style="display:inline">'hand_eye_calib_error_corrected_tool'</span><span data-if="c" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="cpp" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="com" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="dotnet" style="display:none">"hand_eye_calib_error_corrected_tool"</span><span data-if="python" style="display:none">"hand_eye_calib_error_corrected_tool"</span>, <span data-if="hdevelop" style="display:inline">'init_params'</span><span data-if="c" style="display:none">"init_params"</span><span data-if="cpp" style="display:none">"init_params"</span><span data-if="com" style="display:none">"init_params"</span><span data-if="dotnet" style="display:none">"init_params"</span><span data-if="python" style="display:none">"init_params"</span>, <span data-if="hdevelop" style="display:inline">'init_pose'</span><span data-if="c" style="display:none">"init_pose"</span><span data-if="cpp" style="display:none">"init_pose"</span><span data-if="com" style="display:none">"init_pose"</span><span data-if="dotnet" style="display:none">"init_pose"</span><span data-if="python" style="display:none">"init_pose"</span>, <span data-if="hdevelop" style="display:inline">'num_calib_objs'</span><span data-if="c" style="display:none">"num_calib_objs"</span><span data-if="cpp" style="display:none">"num_calib_objs"</span><span data-if="com" style="display:none">"num_calib_objs"</span><span data-if="dotnet" style="display:none">"num_calib_objs"</span><span data-if="python" style="display:none">"num_calib_objs"</span>, <span data-if="hdevelop" style="display:inline">'num_cameras'</span><span data-if="c" style="display:none">"num_cameras"</span><span data-if="cpp" style="display:none">"num_cameras"</span><span data-if="com" style="display:none">"num_cameras"</span><span data-if="dotnet" style="display:none">"num_cameras"</span><span data-if="python" style="display:none">"num_cameras"</span>, <span data-if="hdevelop" style="display:inline">'num_marks'</span><span data-if="c" style="display:none">"num_marks"</span><span data-if="cpp" style="display:none">"num_marks"</span><span data-if="com" style="display:none">"num_marks"</span><span data-if="dotnet" style="display:none">"num_marks"</span><span data-if="python" style="display:none">"num_marks"</span>, <span data-if="hdevelop" style="display:inline">'obj_in_base_pose'</span><span data-if="c" style="display:none">"obj_in_base_pose"</span><span data-if="cpp" style="display:none">"obj_in_base_pose"</span><span data-if="com" style="display:none">"obj_in_base_pose"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose"</span><span data-if="python" style="display:none">"obj_in_base_pose"</span>, <span data-if="hdevelop" style="display:inline">'obj_in_base_pose_covariances'</span><span data-if="c" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="cpp" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="com" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose_covariances"</span><span data-if="python" style="display:none">"obj_in_base_pose_covariances"</span>, <span data-if="hdevelop" style="display:inline">'obj_in_base_pose_deviations'</span><span data-if="c" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="cpp" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="com" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="dotnet" style="display:none">"obj_in_base_pose_deviations"</span><span data-if="python" style="display:none">"obj_in_base_pose_deviations"</span>, <span data-if="hdevelop" style="display:inline">'obj_in_tool_pose'</span><span data-if="c" style="display:none">"obj_in_tool_pose"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose"</span><span data-if="com" style="display:none">"obj_in_tool_pose"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose"</span><span data-if="python" style="display:none">"obj_in_tool_pose"</span>, <span data-if="hdevelop" style="display:inline">'obj_in_tool_pose_covariances'</span><span data-if="c" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="com" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose_covariances"</span><span data-if="python" style="display:none">"obj_in_tool_pose_covariances"</span>, <span data-if="hdevelop" style="display:inline">'obj_in_tool_pose_deviations'</span><span data-if="c" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="cpp" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="com" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="dotnet" style="display:none">"obj_in_tool_pose_deviations"</span><span data-if="python" style="display:none">"obj_in_tool_pose_deviations"</span>, <span data-if="hdevelop" style="display:inline">'optimization_method'</span><span data-if="c" style="display:none">"optimization_method"</span><span data-if="cpp" style="display:none">"optimization_method"</span><span data-if="com" style="display:none">"optimization_method"</span><span data-if="dotnet" style="display:none">"optimization_method"</span><span data-if="python" style="display:none">"optimization_method"</span>, <span data-if="hdevelop" style="display:inline">'params'</span><span data-if="c" style="display:none">"params"</span><span data-if="cpp" style="display:none">"params"</span><span data-if="com" style="display:none">"params"</span><span data-if="dotnet" style="display:none">"params"</span><span data-if="python" style="display:none">"params"</span>, <span data-if="hdevelop" style="display:inline">'params_covariances'</span><span data-if="c" style="display:none">"params_covariances"</span><span data-if="cpp" style="display:none">"params_covariances"</span><span data-if="com" style="display:none">"params_covariances"</span><span data-if="dotnet" style="display:none">"params_covariances"</span><span data-if="python" style="display:none">"params_covariances"</span>, <span data-if="hdevelop" style="display:inline">'params_deviations'</span><span data-if="c" style="display:none">"params_deviations"</span><span data-if="cpp" style="display:none">"params_deviations"</span><span data-if="com" style="display:none">"params_deviations"</span><span data-if="dotnet" style="display:none">"params_deviations"</span><span data-if="python" style="display:none">"params_deviations"</span>, <span data-if="hdevelop" style="display:inline">'params_labels'</span><span data-if="c" style="display:none">"params_labels"</span><span data-if="cpp" style="display:none">"params_labels"</span><span data-if="com" style="display:none">"params_labels"</span><span data-if="dotnet" style="display:none">"params_labels"</span><span data-if="python" style="display:none">"params_labels"</span>, <span data-if="hdevelop" style="display:inline">'pose'</span><span data-if="c" style="display:none">"pose"</span><span data-if="cpp" style="display:none">"pose"</span><span data-if="com" style="display:none">"pose"</span><span data-if="dotnet" style="display:none">"pose"</span><span data-if="python" style="display:none">"pose"</span>, <span data-if="hdevelop" style="display:inline">'pose_labels'</span><span data-if="c" style="display:none">"pose_labels"</span><span data-if="cpp" style="display:none">"pose_labels"</span><span data-if="com" style="display:none">"pose_labels"</span><span data-if="dotnet" style="display:none">"pose_labels"</span><span data-if="python" style="display:none">"pose_labels"</span>, <span data-if="hdevelop" style="display:inline">'reference_camera'</span><span data-if="c" style="display:none">"reference_camera"</span><span data-if="cpp" style="display:none">"reference_camera"</span><span data-if="com" style="display:none">"reference_camera"</span><span data-if="dotnet" style="display:none">"reference_camera"</span><span data-if="python" style="display:none">"reference_camera"</span>, <span data-if="hdevelop" style="display:inline">'tool_in_base_pose'</span><span data-if="c" style="display:none">"tool_in_base_pose"</span><span data-if="cpp" style="display:none">"tool_in_base_pose"</span><span data-if="com" style="display:none">"tool_in_base_pose"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose"</span><span data-if="python" style="display:none">"tool_in_base_pose"</span>, <span data-if="hdevelop" style="display:inline">'tool_in_base_pose_corrected'</span><span data-if="c" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="cpp" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="com" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="dotnet" style="display:none">"tool_in_base_pose_corrected"</span><span data-if="python" style="display:none">"tool_in_base_pose_corrected"</span>, <span data-if="hdevelop" style="display:inline">'tool_in_cam_pose'</span><span data-if="c" style="display:none">"tool_in_cam_pose"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose"</span><span data-if="com" style="display:none">"tool_in_cam_pose"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose"</span><span data-if="python" style="display:none">"tool_in_cam_pose"</span>, <span data-if="hdevelop" style="display:inline">'tool_in_cam_pose_covariances'</span><span data-if="c" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="com" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose_covariances"</span><span data-if="python" style="display:none">"tool_in_cam_pose_covariances"</span>, <span data-if="hdevelop" style="display:inline">'tool_in_cam_pose_deviations'</span><span data-if="c" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="cpp" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="com" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="dotnet" style="display:none">"tool_in_cam_pose_deviations"</span><span data-if="python" style="display:none">"tool_in_cam_pose_deviations"</span>, <span data-if="hdevelop" style="display:inline">'tool_rotation_deviation'</span><span data-if="c" style="display:none">"tool_rotation_deviation"</span><span data-if="cpp" style="display:none">"tool_rotation_deviation"</span><span data-if="com" style="display:none">"tool_rotation_deviation"</span><span data-if="dotnet" style="display:none">"tool_rotation_deviation"</span><span data-if="python" style="display:none">"tool_rotation_deviation"</span>, <span data-if="hdevelop" style="display:inline">'tool_translation_deviation'</span><span data-if="c" style="display:none">"tool_translation_deviation"</span><span data-if="cpp" style="display:none">"tool_translation_deviation"</span><span data-if="com" style="display:none">"tool_translation_deviation"</span><span data-if="dotnet" style="display:none">"tool_translation_deviation"</span><span data-if="python" style="display:none">"tool_translation_deviation"</span>, <span data-if="hdevelop" style="display:inline">'type'</span><span data-if="c" style="display:none">"type"</span><span data-if="cpp" style="display:none">"type"</span><span data-if="com" style="display:none">"type"</span><span data-if="dotnet" style="display:none">"type"</span><span data-if="python" style="display:none">"type"</span>, <span data-if="hdevelop" style="display:inline">'x'</span><span data-if="c" style="display:none">"x"</span><span data-if="cpp" style="display:none">"x"</span><span data-if="com" style="display:none">"x"</span><span data-if="dotnet" style="display:none">"x"</span><span data-if="python" style="display:none">"x"</span>, <span data-if="hdevelop" style="display:inline">'y'</span><span data-if="c" style="display:none">"y"</span><span data-if="cpp" style="display:none">"y"</span><span data-if="com" style="display:none">"y"</span><span data-if="dotnet" style="display:none">"y"</span><span data-if="python" style="display:none">"y"</span>, <span data-if="hdevelop" style="display:inline">'z'</span><span data-if="c" style="display:none">"z"</span><span data-if="cpp" style="display:none">"z"</span><span data-if="com" style="display:none">"z"</span><span data-if="dotnet" style="display:none">"z"</span><span data-if="python" style="display:none">"z"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="DataValue" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DataValue</span><span data-if="c" style="display:none">DataValue</span><span data-if="cpp" style="display:none">DataValue</span><span data-if="com" style="display:none">DataValue</span><span data-if="dotnet" style="display:none">dataValue</span><span data-if="python" style="display:none">data_value</span></code></b> (output_control)  </span><span>attribute.value(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Requested data.</p>
</div>
<h2 id="sec_example_all">例程 (HDevelop)</h2>
<pre class="example">
* Get the camera type of camera 0.
get_calib_data (CalibDataID, 'camera', 0, 'type', CameraType)

* Get the optimized (calibrated) pose of pose 1 of the
* calibration object 2.
get_calib_data (CalibDataID, 'calib_obj_pose', [2,1], 'pose', CalobjPose)
</pre>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="calibrate_cameras.html"><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></a></code>, 
<code><a href="calibrate_hand_eye.html"><span data-if="hdevelop" style="display:inline">calibrate_hand_eye</span><span data-if="c" style="display:none">calibrate_hand_eye</span><span data-if="cpp" style="display:none">CalibrateHandEye</span><span data-if="com" style="display:none">CalibrateHandEye</span><span data-if="dotnet" style="display:none">CalibrateHandEye</span><span data-if="python" style="display:none">calibrate_hand_eye</span></a></code>, 
<code><a href="create_calib_data.html"><span data-if="hdevelop" style="display:inline">create_calib_data</span><span data-if="c" style="display:none">create_calib_data</span><span data-if="cpp" style="display:none">CreateCalibData</span><span data-if="com" style="display:none">CreateCalibData</span><span data-if="dotnet" style="display:none">CreateCalibData</span><span data-if="python" style="display:none">create_calib_data</span></a></code>, 
<code><a href="read_calib_data.html"><span data-if="hdevelop" style="display:inline">read_calib_data</span><span data-if="c" style="display:none">read_calib_data</span><span data-if="cpp" style="display:none">ReadCalibData</span><span data-if="com" style="display:none">ReadCalibData</span><span data-if="dotnet" style="display:none">ReadCalibData</span><span data-if="python" style="display:none">read_calib_data</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Calibration</p>
<!--OP_REF_FOOTER_START-->
<hr>
<div class="indexlink">
<a href="index_classes.html"><span data-if="dotnet" style="display:none;">类别</span><span data-if="cpp" style="display:none;">类别</span></a><span data-if="dotnet" style="display:none;"> | </span><span data-if="cpp" style="display:none;"> | </span><a href="index_by_name.html">算子列表</a>
</div>
<div class="footer">
<div class="copyright">HALCON算子参考手册 Copyright © 2015-2023 51Halcon</div>
</div>
</div>
</body>
</html>
